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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    130,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "pick_dual_bottles",
+  "episode": "episode_0000002",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/pick_dual_bottles/aloha_agilex/data/episode_0000002.hdf5",
+  "num_frames": 130,
+  "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": [
+      130,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      130,
+      14
+    ],
+    "action_shape": [
+      130,
+      14
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+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
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+  "frequency_hz": 15,
+  "instructions": [
+    "Reach for the narrow-necked bottle and the bottle with rounded neck with both arms simultaneously.",
+    "Lift the medium dark brown bottle with one arm and the bottle with rounded neck with the other.",
+    "Use each arm to secure one bottle, the medium dark brown bottle and the green bottle with indented base.",
+    "Grasp the dark drink bottle with logo and the smooth green plastic bottle at the same time.",
+    "Each arm should lift one bottle: the smooth bottle with red lid and the medium green bottle.",
+    "Use both arms together to pick the plastic drink bottle and the smooth green bottle.",
+    "Use one arm for the bottle with white neck and red top and the other for the smooth green plastic bottle.",
+    "Take the Coca-Cola bottle and the smooth green plastic bottle together, one per arm.",
+    "Take hold of the brown bottle with red label and the plastic bottle at once.",
+    "Use separate arms to grasp the medium dark brown bottle and the handheld green bottle simultaneously.",
+    "Hold the dark drink bottle with logo in one arm and the bottle with narrow top in the other.",
+    "Secure the Coca-Cola bottle and the smooth green bottle simultaneously with separate arms.",
+    "Hold both the hand-sized soda bottle and the smooth green bottle, one in each arm.",
+    "Use each arm to grab one of the plastic drink bottle and the medium-sized green bottle.",
+    "Grasp both bottles, the hand-sized soda bottle and the green bottle with indented base, simultaneously.",
+    "Raise both the long thin bottle and the smooth green plastic bottle simultaneously.",
+    "Simultaneously grasp and lift the hand-sized soda bottle and the plastic bottle.",
+    "Lift the two bottles the brown bottle with red label and the medium green bottle with capped neck together.",
+    "Pick the long thin bottle as the other arm picks the handheld green bottle.",
+    "Grab the plastic drink bottle and the smooth green plastic bottle together.",
+    "Raise both bottles together, the bottle with ridges on bottom and the green bottle with indented base.",
+    "Pick up the medium dark brown bottle and the smooth green plastic bottle in one synchronized motion.",
+    "Lift the Coca-Cola bottle and the bottle with white printed label together with both arms.",
+    "Use both arms to lift the dark drink bottle with logo and the medium green bottle with capped neck together.",
+    "Pick the plastic drink bottle and the bottle with narrow top up in parallel.",
+    "Pick up both the hand-sized soda bottle and the medium green bottle using separate arms.",
+    "Raise the plastic drink bottle and the handheld green bottle at the same time.",
+    "Catch the brown bottle with red label and the smooth green plastic bottle in parallel.",
+    "Pick up the Coca-Cola bottle and the medium green bottle simultaneously.",
+    "Grab both bottles at once: the bottle with ridges on bottom and the medium-sized green bottle.",
+    "Reach for the plastic drink bottle and the plastic bottle with both arms simultaneously.",
+    "Lift the plastic drink bottle with one arm and the smooth green plastic bottle with the other.",
+    "Use each arm to secure one bottle, the dark drink bottle with logo and the smooth green plastic bottle.",
+    "Grasp the dark drink bottle with logo and the bottle with rounded neck at the same time.",
+    "Each arm should lift one bottle: the hand-sized soda bottle and the bottle with narrow top.",
+    "Use both arms together to pick the long thin bottle and the bottle with white printed label.",
+    "Use one arm for the narrow-necked bottle and the other for the bottle with rounded neck.",
+    "Take the medium dark brown bottle and the smooth green plastic bottle together, one per arm.",
+    "Take hold of the smooth bottle with red lid and the bottle with narrow top at once.",
+    "Use separate arms to grasp the dark drink bottle with logo and the smooth green plastic bottle simultaneously.",
+    "Hold the medium dark brown bottle in one arm and the plastic bottle in the other.",
+    "Secure the dark drink bottle with logo and the medium green bottle simultaneously with separate arms.",
+    "Hold both the plastic drink bottle and the handheld green bottle, one in each arm.",
+    "Use each arm to grab one of the long thin bottle and the handheld green bottle.",
+    "Grasp both bottles, the medium dark brown bottle and the smooth green bottle, simultaneously.",
+    "Raise both the dark drink bottle with logo and the green bottle with indented base simultaneously.",
+    "Simultaneously grasp and lift the plastic drink bottle and the bottle with narrow top.",
+    "Lift the two bottles the brown bottle with red label and the green bottle with indented base together.",
+    "Pick the medium dark brown bottle as the other arm picks the smooth green plastic bottle.",
+    "Grab the hand-sized soda bottle and the bottle with white printed label together.",
+    "Raise both bottles together, the long thin bottle and the bottle with rounded neck.",
+    "Pick up the plastic drink bottle and the green bottle with indented base in one synchronized motion.",
+    "Lift the bottle with ridges on bottom and the plastic bottle together with both arms.",
+    "Use both arms to lift the long thin bottle and the smooth green bottle together.",
+    "Pick the hand-sized soda bottle and the smooth green plastic bottle up in parallel.",
+    "Pick up both the dark drink bottle with logo and the bottle with narrow top using separate arms.",
+    "Raise the hand-sized soda bottle and the green bottle with indented base at the same time.",
+    "Catch the medium dark brown bottle and the bottle with white printed label in parallel.",
+    "Pick up the hand-sized soda bottle and the green bottle with indented base simultaneously.",
+    "Grab both bottles at once: the Coca-Cola bottle and the green bottle with indented base.",
+    "Reach for the bottle with ridges on bottom and the bottle with white printed label with both arms simultaneously.",
+    "Lift the hand-sized soda bottle with one arm and the plastic bottle with the other.",
+    "Use each arm to secure one bottle, the medium dark brown bottle and the medium-sized green bottle.",
+    "Grasp the narrow-necked bottle and the handheld green bottle at the same time.",
+    "Each arm should lift one bottle: the long thin bottle and the bottle with narrow top.",
+    "Use both arms together to pick the Coca-Cola bottle and the medium green bottle.",
+    "Use one arm for the bottle with ridges on bottom and the other for the green bottle with indented base.",
+    "Take the brown bottle with red label and the medium-sized green bottle together, one per arm.",
+    "Take hold of the dark drink bottle with logo and the handheld green bottle at once.",
+    "Use separate arms to grasp the red-capped bottle and the bottle with ridges near base simultaneously.",
+    "Hold the narrow-necked bottle in one arm and the medium-sized green bottle in the other.",
+    "Secure the narrow-necked bottle and the plastic bottle simultaneously with separate arms.",
+    "Hold both the bottle with ridges on bottom and the medium-sized green bottle, one in each arm.",
+    "Use each arm to grab one of the hand-sized soda bottle and the green bottle with indented base.",
+    "Grasp both bottles, the red-capped bottle and the handheld green bottle, simultaneously.",
+    "Raise both the smooth bottle with red lid and the bottle with rounded neck simultaneously.",
+    "Simultaneously grasp and lift the Coca-Cola bottle and the green bottle with indented base.",
+    "Lift the two bottles the Coca-Cola bottle and the smooth green plastic bottle together.",
+    "Pick the narrow-necked bottle as the other arm picks the bottle with ridges near base.",
+    "Grab the Coca-Cola bottle and the bottle with narrow top together.",
+    "Raise both bottles together, the Coca-Cola bottle and the green bottle with indented base.",
+    "Pick up the bottle with ridges on bottom and the medium green bottle in one synchronized motion.",
+    "Lift the plastic drink bottle and the medium-sized green bottle together with both arms.",
+    "Use both arms to lift the smooth bottle with red lid and the medium green bottle together.",
+    "Pick the smooth bottle with red lid and the bottle with narrow top up in parallel.",
+    "Pick up both the Coca-Cola bottle and the bottle with white printed label using separate arms.",
+    "Raise the medium dark brown bottle and the green bottle with indented base at the same time.",
+    "Catch the narrow-necked bottle and the medium green bottle in parallel.",
+    "Pick up the smooth bottle with red lid and the bottle with rounded neck simultaneously.",
+    "Grab both bottles at once: the hand-sized soda bottle and the bottle with narrow top.",
+    "Reach for the dark drink bottle with logo and the green bottle with indented base with both arms simultaneously.",
+    "Lift the narrow-necked bottle with one arm and the green bottle with indented base with the other.",
+    "Use each arm to secure one bottle, the dark drink bottle with logo and the handheld green bottle.",
+    "Grasp the bottle with white neck and red top and the handheld green bottle at the same time.",
+    "Each arm should lift one bottle: the medium dark brown bottle and the bottle with narrow top.",
+    "Use both arms together to pick the plastic drink bottle and the bottle with rounded neck.",
+    "Use one arm for the bottle with white neck and red top and the other for the bottle with rounded neck.",
+    "Take the narrow-necked bottle and the bottle with white printed label together, one per arm.",
+    "Take hold of the Coca-Cola bottle and the bottle with white printed label at once.",
+    "Use separate arms to grasp the plastic drink bottle and the handheld green bottle simultaneously."
+  ]
+}
diff --git a/pick_dual_bottles/episode_0000045/TCP_third/metadata.json b/pick_dual_bottles/episode_0000045/TCP_third/metadata.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    139,
+    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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+  "format": "robotwin_tcp_v1",
+  "shape": [
+    258,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
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+  "format_version": "robotwin_4d_v1",
+  "task": "place_can_basket",
+  "episode": "episode_0000035",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_can_basket/aloha_agilex/data/episode_0000035.hdf5",
+  "num_frames": 258,
+  "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": [
+      258,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      258,
+      14
+    ],
+    "action_shape": [
+      258,
+      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 hand-sized red can for drinks, set it in the brown basket, then lift the brown basket.",
+    "Pick up the cylindrical red drink can with logo, place it in the basket with loop handle, and then lift the basket with loop handle.",
+    "Pick up the metallic red beverage can, put it in the basket for carrying things, and lift the basket for carrying things.",
+    "Lift the red cylindrical can with silver top, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Use the left arm to put the metallic red beverage can in the basket for carrying things; another arm lifts the basket for carrying things.",
+    "Use the left arm to set the red cylindrical can with silver top in the basket with handle; another arm lifts the basket with handle.",
+    "Drop the rounded red Coca-Cola soda container into the brown basket using the left arm, then lift the brown basket with another arm.",
+    "Grab the cylindrical red drink can with logo, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.",
+    "Lift the metallic red beverage can, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.",
+    "Pick the metallic red beverage can with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Pick up the Coca-Cola can, place it into the brown basket, then lift the brown basket.",
+    "Use the left arm to set the Coca-Cola soda can in the wooden basket with curved handle; the other arm lifts the wooden basket with curved handle.",
+    "Pick the small aluminum red drink can with the left arm, drop it in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.",
+    "Use the left arm to grab the red cylindrical can with silver top, put it into the basket for holding items, and lift the basket for holding items with another arm.",
+    "Place the smooth red can with silver bottom in the basket with loop handle and then use another arm to lift the basket with loop handle.",
+    "Lift the small aluminum red drink can, set it in the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Use the left arm to place the red cylindrical can with silver top in the basket for holding items; the other arm lifts the basket for holding items.",
+    "Pick up the red can with smooth metallic texture with the left arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.",
+    "Grab the red can with white Coca-Cola logo, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.",
+    "Pick up the red can with white Coca-Cola logo, put it into the basket with handle, and lift the basket with handle.",
+    "Use the left arm to insert the Coca-Cola can in the basket for carrying things; the other arm lifts the basket for carrying things.",
+    "Use the left arm to drop the small aluminum red drink can in the light brown oval basket; the other arm lifts the light brown oval basket.",
+    "Use the left arm to lower the Coca-Cola can into the basket with handle; the other arm lifts the basket with handle.",
+    "Place the red can with smooth metallic texture in the basket made of woven wood and then lift the basket made of woven wood.",
+    "Use one arm for the Coca-Cola soda can, then the other arm lifts the basket with handle.",
+    "Pick the Coca-Cola can using the left arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Take the red cylindrical can with silver top with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Use the left arm to grab the Coca-Cola can and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Grab the metallic red beverage can with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Take the rounded red Coca-Cola soda container in the left arm, place it into the brown basket, another arm lifts the brown basket.",
+    "Use the left arm to place the hand-sized red can for drinks in the basket made of woven wood; another arm lifts the basket made of woven wood.",
+    "Grab the red can with white lettering, put it in the basket with handle, then raise the basket with handle.",
+    "Grab the hand-sized red can for drinks, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.",
+    "Grab and drop the red can with white Coca-Cola logo in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.",
+    "Lift the Coca-Cola can, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.",
+    "Pick the red cylindrical can with silver top, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.",
+    "Take the red cylindrical can with silver top, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Pick up the rounded red Coca-Cola soda container, set it inside the basket for holding items, then lift the basket for holding items.",
+    "Pick the hand-sized red can for drinks with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Grab the Coca-Cola can, place it in the basket with handle, and lift the basket with handle upwards.",
+    "Use the left arm to put the red can with smooth metallic texture in the wooden basket with curved handle; the other arm raises the wooden basket with curved handle.",
+    "Grab the red can with smooth metallic texture, drop it into the woven basket, and raise the woven basket.",
+    "Lift the hand-sized red can for drinks, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Use the left arm to put the red cylindrical can with silver top in the oval-shaped basket with woven body; the other arm lifts the oval-shaped basket with woven body.",
+    "Take the red can with white Coca-Cola logo, set it into the light brown oval basket, and raise the light brown oval basket.",
+    "Grab the Coca-Cola soda can, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Place the cylindrical red drink can with logo inside the woven basket, then lift the woven basket.",
+    "Lift the red can with smooth metallic texture, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.",
+    "Take the smooth red can with silver bottom and put it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab the Coca-Cola soda can, set it into the woven basket, then raise the woven basket.",
+    "Pick the metallic red beverage can, set it in the basket with handle, then lift the basket with handle.",
+    "Pick up the metallic red beverage can, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Pick up the cylindrical red drink can with logo, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Lift the hand-sized red can for drinks, place it inside the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Use the left arm to put the Coca-Cola can in the basket for holding items; another arm lifts the basket for holding items.",
+    "Use the left arm to set the small aluminum red drink can in the smooth ribbed light brown basket; another arm lifts the smooth ribbed light brown basket.",
+    "Drop the small aluminum red drink can into the wooden basket with curved handle using the left arm, then lift the wooden basket with curved handle with another arm.",
+    "Grab the Coca-Cola can, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.",
+    "Lift the rounded red Coca-Cola soda container, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.",
+    "Pick the cylindrical red drink can with logo with the left arm, set it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Pick up the smooth red can with silver bottom, place it into the basket with handle, then lift the basket with handle.",
+    "Use the left arm to set the red can with smooth metallic texture in the light brown oval basket; the other arm lifts the light brown oval basket.",
+    "Pick the hand-sized red can for drinks with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Use the left arm to grab the rounded red Coca-Cola soda container, put it into the light brown oval basket, and lift the light brown oval basket with another arm.",
+    "Place the Coca-Cola soda can in the woven basket and then use another arm to lift the woven basket.",
+    "Lift the rounded red Coca-Cola soda container, set it in the basket with handle, and elevate the basket with handle.",
+    "Use the left arm to place the smooth red can with silver bottom in the woven basket; the other arm lifts the woven basket.",
+    "Pick up the red can with smooth metallic texture with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.",
+    "Grab the cylindrical red drink can with logo, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.",
+    "Pick up the metallic red beverage can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Use the left arm to insert the red cylindrical can with silver top in the woven basket; the other arm lifts the woven basket.",
+    "Use the left arm to drop the red can with white lettering in the brown basket; the other arm lifts the brown basket.",
+    "Use the left arm to lower the Coca-Cola soda can into the wooden basket with curved handle; the other arm lifts the wooden basket with curved handle.",
+    "Place the smooth red can with silver bottom in the basket for carrying things and then lift the basket for carrying things.",
+    "Use one arm for the cylindrical red drink can with logo, then the other arm lifts the basket with handle.",
+    "Pick the red can with smooth metallic texture using the left arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Take the red can with white Coca-Cola logo with the left arm, drop it into the woven basket, and lift the woven basket using another arm.",
+    "Use the left arm to grab the cylindrical red drink can with logo and place in the basket for holding items, lift the basket for holding items with another arm.",
+    "Grab the red can with white Coca-Cola logo with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Take the red can with white Coca-Cola logo in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.",
+    "Use the left arm to place the rounded red Coca-Cola soda container in the light brown oval basket; another arm lifts the light brown oval basket.",
+    "Grab the metallic red beverage can, put it in the basket for holding items, then raise the basket for holding items.",
+    "Grab the red can with smooth metallic texture, drop it into the basket for carrying things, then use another arm for the basket for carrying things.",
+    "Grab and drop the smooth red can with silver bottom in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.",
+    "Lift the red can with smooth metallic texture, place it in the basket for carrying things, pick up the basket for carrying things afterward.",
+    "Pick the smooth red can with silver bottom, set it in the basket for carrying things, and lift the basket for carrying things upward.",
+    "Take the small aluminum red drink can, place it into the woven basket, then lift the woven basket.",
+    "Pick up the Coca-Cola soda can, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Pick the red can with smooth metallic texture with one arm, place it in the woven basket, and lift the woven basket using another arm.",
+    "Grab the red can with white Coca-Cola logo, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.",
+    "Use the left arm to put the cylindrical red drink can with logo in the oval-shaped basket with woven body; the other arm raises the oval-shaped basket with woven body.",
+    "Grab the red can with smooth metallic texture, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Lift the smooth red can with silver bottom, place it in the basket for holding items, and raise the basket for holding items.",
+    "Use the left arm to put the rounded red Coca-Cola soda container in the wooden basket with curved handle; the other arm lifts the wooden basket with curved handle.",
+    "Take the red can with white Coca-Cola logo, set it into the basket for carrying things, and raise the basket for carrying things.",
+    "Grab the Coca-Cola can, place it in the basket with handle, and then lift the basket with handle.",
+    "Place the red can with smooth metallic texture inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Lift the hand-sized red can for drinks, drop it into the basket for carrying things, then carry the basket for carrying things.",
+    "Take the red can with smooth metallic texture and put it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Grab the rounded red Coca-Cola soda container, set it into the light brown oval basket, then raise the light brown oval basket."
+  ]
+}
diff --git a/place_can_basket/episode_0000039/TCP_third/metadata.json b/place_can_basket/episode_0000039/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f94e68b7a5219063519fdd28c3b178d225d37700
--- /dev/null
+++ b/place_can_basket/episode_0000039/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    254,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "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_empty_cup/episode_0000027/TCP_head/metadata.json b/place_empty_cup/episode_0000027/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..940d5fec831e87c3305ed540c50c29c3049f2ba9
--- /dev/null
+++ b/place_empty_cup/episode_0000027/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    172,
+    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_empty_cup/episode_0000027/metadata.json b/place_empty_cup/episode_0000027/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e34cdd1fdc6364df4817c11c2f866b29ebbbb0a0
--- /dev/null
+++ b/place_empty_cup/episode_0000027/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_empty_cup",
+  "episode": "episode_0000027",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_empty_cup/aloha_agilex/data/episode_0000027.hdf5",
+  "num_frames": 172,
+  "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": [
+      172,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      172,
+      14
+    ],
+    "action_shape": [
+      172,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Use an arm to place the cup with smooth plastic surface on the smooth round palm-sized coaster",
+    "Lift the smooth blue cup for liquids up and drop it on the flat surface gray wooden coaster.",
+    "Move the blue rounded-bottom cup to the flat surface gray wooden coaster and set it down.",
+    "Position the smooth blue cup for liquids on the coaster with circular shape with the arm.",
+    "Make sure the cup with light blue color ends up on the coaster with circular shape.",
+    "Position the medium-sized plastic blue cup carefully on the light gray streaked wooden coaster",
+    "Stick the cup with smooth plastic surface onto the flat surface gray wooden coaster using the arm",
+    "Using the arm, align the medium blue cylindrical cup over the flat round wooden coaster",
+    "Stick the rounded base blue cup onto the light gray round grainy coaster using the arm.",
+    "Using the arm, slide the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Slide the medium blue cylindrical cup gently onto the wooden coaster via the arm.",
+    "Lift the medium blue cylindrical cup and place it onto the flat round wooden coaster.",
+    "Set the light blue plastic cup carefully onto the round coaster",
+    "Lift the smooth blue cup for liquids and place it over the round coaster",
+    "Position the smooth blue cup for liquids above and drop it on the flat round wooden coaster",
+    "Use the arm to put the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Grab the cylindrical light blue cup and place it on the small coaster with grain texture.",
+    "Grab the blue rounded-bottom cup and lower it onto the light gray streaked wooden coaster",
+    "Slide the smooth blue cup for liquids onto the coaster made of smooth wood",
+    "Grab the cup with light blue color and set it onto the small coaster with grain texture.",
+    "Use the arm to slide the cup with smooth plastic surface onto the coaster made of smooth wood.",
+    "Relocate the medium-sized plastic blue cup precisely onto the light gray streaked wooden coaster with arm",
+    "Align the light blue plastic cup and set it down on the smooth round palm-sized coaster",
+    "Set the medium-sized plastic blue cup onto the round coaster using the arm.",
+    "Move the blue rounded-bottom cup to the light gray streaked wooden coaster",
+    "Use arm to place the plastic cup for drinks on the small coaster with grain texture",
+    "Pick the blue rounded-bottom cup up and drop it on the wooden coaster.",
+    "Position the cup for holding liquids squarely on top of the smooth round palm-sized coaster.",
+    "Use an arm to drop the plastic cup for drinks on the grainy texture coaster.",
+    "Direct the cylindrical light blue cup to the grainy texture coaster and let it rest.",
+    "Lift the medium-sized plastic blue cup and stick it onto the light gray round grainy coaster.",
+    "Grab the medium blue cylindrical cup, then place it onto the round coaster.",
+    "Using the arm, drop the light blue plastic cup onto the wooden coaster.",
+    "Drop the cup with smooth plastic surface firmly on the flat surface gray wooden coaster using arm",
+    "Set the smooth blue cup for liquids on the round coaster with light streaks using the arm.",
+    "Slide the cup for holding liquids onto the round coaster with light streaks with the arm.",
+    "Carefully place the cup with smooth plastic surface onto the grainy texture coaster without arm",
+    "Move the cup with smooth plastic surface using the arm onto the grainy texture coaster.",
+    "Set the light blue plastic cup securely on the small coaster with grain texture using the arm.",
+    "Stick the blue rounded-bottom cup onto the coaster made of smooth wood carefully.",
+    "Use the arm to position the blue rounded-bottom cup onto the flat round wooden coaster.",
+    "Use the arm to position the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Grab the medium blue cylindrical cup and place it over the small coaster with grain texture.",
+    "Move the blue rounded-bottom cup onto the coaster with circular shape with the arm",
+    "Set the cup for holding liquids down on the coaster with circular shape",
+    "Move the cylindrical light blue cup to the light gray round grainy coaster using the arm.",
+    "Place the cylindrical light blue cup on top of the smooth round palm-sized coaster",
+    "Use the arm to set the rounded base blue cup on the coaster made of smooth wood",
+    "Drop the plastic cup for drinks on top of the coaster with circular shape.",
+    "Use an arm to drop the medium blue cylindrical cup on the round coaster",
+    "Use an arm to place the cylindrical light blue cup on the small coaster with grain texture",
+    "Lift the smooth blue cup for liquids up and drop it on the wooden coaster.",
+    "Move the blue rounded-bottom cup to the light gray streaked wooden coaster and set it down.",
+    "Position the plastic cup for drinks on the wooden coaster with the arm.",
+    "Make sure the medium blue cylindrical cup ends up on the coaster made of smooth wood.",
+    "Position the rounded base blue cup carefully on the small coaster with grain texture",
+    "Stick the cup with light blue color onto the light gray streaked wooden coaster using the arm",
+    "Using the arm, align the plastic cup for drinks over the smooth round palm-sized coaster",
+    "Stick the cup with light blue color onto the light gray round grainy coaster using the arm.",
+    "Using the arm, slide the cylindrical light blue cup onto the small coaster with grain texture.",
+    "Slide the cup with light blue color gently onto the round coaster with light streaks via the arm.",
+    "Lift the plastic cup for drinks and place it onto the wooden coaster.",
+    "Set the blue rounded-bottom cup carefully onto the coaster with circular shape",
+    "Lift the smooth blue drinking cup and place it over the round coaster",
+    "Position the medium-sized plastic blue cup above and drop it on the flat round wooden coaster",
+    "Use the arm to put the blue rounded-bottom cup onto the grainy texture coaster.",
+    "Grab the cup with smooth plastic surface and place it on the wooden coaster.",
+    "Grab the plastic cup for drinks and lower it onto the light gray round grainy coaster",
+    "Slide the cup with light blue color onto the round coaster with light streaks",
+    "Grab the cup with light blue color and set it onto the smooth round palm-sized coaster.",
+    "Use the arm to slide the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Relocate the blue rounded-bottom cup precisely onto the grainy texture coaster with arm",
+    "Align the rounded base blue cup and set it down on the small coaster with grain texture",
+    "Set the cylindrical light blue cup onto the small coaster with grain texture using the arm.",
+    "Move the cylindrical light blue cup to the small coaster with grain texture",
+    "Use arm to place the cup with smooth plastic surface on the smooth round palm-sized coaster",
+    "Pick the smooth blue drinking cup up and drop it on the coaster with circular shape.",
+    "Position the plastic cup for drinks squarely on top of the coaster made of smooth wood.",
+    "Use an arm to drop the plastic cup for drinks on the round coaster.",
+    "Direct the smooth blue cup for liquids to the flat round wooden coaster and let it rest.",
+    "Lift the rounded base blue cup and stick it onto the smooth round palm-sized coaster.",
+    "Grab the cup with smooth plastic surface, then place it onto the flat surface gray wooden coaster.",
+    "Using the arm, drop the rounded base blue cup onto the round coaster with light streaks.",
+    "Drop the blue rounded-bottom cup firmly on the round coaster with light streaks using arm",
+    "Set the light blue plastic cup on the round coaster using the arm.",
+    "Slide the smooth blue drinking cup onto the grainy texture coaster with the arm.",
+    "Carefully place the cup for holding liquids onto the coaster made of smooth wood without arm",
+    "Move the light blue plastic cup using the arm onto the coaster made of smooth wood.",
+    "Set the smooth blue cup for liquids securely on the wooden coaster using the arm.",
+    "Stick the rounded base blue cup onto the light gray round grainy coaster carefully.",
+    "Use the arm to position the medium-sized plastic blue cup onto the light gray streaked wooden coaster.",
+    "Use the arm to position the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Grab the smooth blue cup for liquids and place it over the smooth round palm-sized coaster.",
+    "Move the light blue plastic cup onto the smooth round palm-sized coaster with the arm",
+    "Set the rounded base blue cup down on the coaster made of smooth wood",
+    "Move the smooth blue cup for liquids to the round coaster using the arm.",
+    "Place the plastic cup for drinks on top of the flat surface gray wooden coaster",
+    "Use the arm to set the smooth blue cup for liquids on the small coaster with grain texture",
+    "Drop the plastic cup for drinks on top of the light gray streaked wooden coaster.",
+    "Use an arm to drop the smooth blue cup for liquids on the coaster with circular shape"
+  ]
+}
diff --git a/place_shoe/episode_0000013/TCP_third/metadata.json b/place_shoe/episode_0000013/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f4a866d98b21ed9934ad0e926f9efd381257a76
--- /dev/null
+++ b/place_shoe/episode_0000013/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    194,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_shoe/episode_0000036/TCP_head/metadata.json b/place_shoe/episode_0000036/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..940d5fec831e87c3305ed540c50c29c3049f2ba9
--- /dev/null
+++ b/place_shoe/episode_0000036/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    172,
+    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_shoe/episode_0000036/metadata.json b/place_shoe/episode_0000036/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9862b25aa53645f180a6ff67cb7b2d8d956d01d7
--- /dev/null
+++ b/place_shoe/episode_0000036/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_shoe",
+  "episode": "episode_0000036",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_shoe/aloha_agilex/data/episode_0000036.hdf5",
+  "num_frames": 172,
+  "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": [
+      172,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      172,
+      14
+    ],
+    "action_shape": [
+      172,
+      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 synthetic leather white shoe using the right arm and drop it on the mat",
+    "Pick the rubber-soled black-striped shoe from the table and place it gently on the mat",
+    "Take the white shoe with three stripes from the table using the right arm and drop it on the mat",
+    "Remove the white shoe with three stripes from the table and lay it on the mat",
+    "Take the white shoe with three stripes off the table and put it on the mat",
+    "Move the smooth surface white shoe from the table to the mat in one fluid motion",
+    "Lift the white shoe from the table using the right arm and place it on the mat",
+    "Pick the white shoe with three stripes off the table and position it on the mat",
+    "Take the white shoe from the table and place it on the mat",
+    "Pick up the white shoe with three stripes with the right arm, move it from the table, and set it on the mat",
+    "Lift the shoe with black accents using the right arm from the table and place it on the mat",
+    "Lift the white shoe from the table and gently place it onto the mat",
+    "Use the right arm to grab the medium-sized shoe and transfer it to the mat",
+    "Use the right arm to pick the medium-sized shoe off the table and move it onto the mat",
+    "Use the right arm to pick up the shoe with black accents from the table and drop it on the mat",
+    "Retrieve the shoe with black accents from the table and set it on the mat",
+    "Pick up the white shoe with black lines with the right arm from the table and place it on the mat",
+    "Use the right arm to grab the rubber-soled black-striped shoe from the table and set it on the mat",
+    "Take the white shoe with three stripes with the right arm and place it carefully on the mat",
+    "Use the right arm to lift the sports shoe white and black from the table and set it on the mat",
+    "Use the right arm to grab the white shoe with curved top from the table and move it to the mat",
+    "Take the synthetic leather white shoe from the table and carefully drop it on the mat",
+    "Lift the medium-sized shoe from the table and place it carefully on the mat",
+    "Grab the white shoe with three stripes on the table and move it to the mat",
+    "Using the right arm, lift the white shoe from the table and place it onto the mat",
+    "Move the white shoe with three stripes from the table to the mat",
+    "Pick up the medium shoe with synthetic material from the table and set it on the mat",
+    "Use the right arm to lift the medium shoe with synthetic material from the table and set it on the mat",
+    "Take the medium shoe with synthetic material from the table and put it on the mat",
+    "Use the right arm to lift the white shoe with black lines from the table and set it on the mat",
+    "Using the right arm, grasp the white shoe with curved top from the table and place it onto the mat",
+    "Use the right arm to grab the white shoe with three stripes and put it on the mat",
+    "Grab the synthetic leather white shoe using the right arm, move it from the table to the mat",
+    "Lift the white shoe with black lines off the table using the right arm and drop it on the mat",
+    "With the right arm, grab the shoe with black accents off the table and place it onto the mat",
+    "Take the white shoe with curved top from the table and position it on the mat",
+    "Pick the white shoe with black lines up from the table and drop it directly on the mat",
+    "With the right arm, pick the white shoe with curved top up from the table and put it on the mat",
+    "Use the right arm to pick the smooth surface white shoe and position it on the mat",
+    "Grab the white shoe with three stripes from the table with the right arm and place it on the mat",
+    "Move the rounded-top white shoe from the table to the mat",
+    "Transfer the medium-sized shoe from the table to the mat",
+    "With the right arm, grab the white shoe with curved top from the table and place it on the mat",
+    "Grab the smooth surface white shoe from the table and place it on the mat",
+    "Lift the shoe with black accents from the table and place it onto the mat",
+    "Take the medium-sized shoe and put it on the mat",
+    "Move the white shoe with curved top from the table and place it down on the mat",
+    "Pick up the white shoe and move it to the mat",
+    "Lift the white shoe with three stripes and place it on the mat",
+    "Pick the medium shoe with synthetic material up from the table and put it on the mat",
+    "Grab the smooth surface white shoe using the right arm and drop it on the mat",
+    "Pick the synthetic leather white shoe from the table and place it gently on the mat",
+    "Take the smooth surface white shoe from the table using the right arm and drop it on the mat",
+    "Remove the white shoe with three stripes from the table and lay it on the mat",
+    "Take the white shoe off the table and put it on the mat",
+    "Move the medium shoe with synthetic material from the table to the mat in one fluid motion",
+    "Lift the white shoe with curved top from the table using the right arm and place it on the mat",
+    "Pick the white shoe off the table and position it on the mat",
+    "Take the sports shoe white and black from the table and place it on the mat",
+    "Pick up the smooth surface white shoe with the right arm, move it from the table, and set it on the mat",
+    "Lift the sports shoe white and black using the right arm from the table and place it on the mat",
+    "Lift the synthetic leather white shoe from the table and gently place it onto the mat",
+    "Use the right arm to grab the synthetic leather white shoe and transfer it to the mat",
+    "Use the right arm to pick the white shoe with three stripes off the table and move it onto the mat",
+    "Use the right arm to pick up the white shoe from the table and drop it on the mat",
+    "Retrieve the white shoe from the table and set it on the mat",
+    "Pick up the medium shoe with synthetic material with the right arm from the table and place it on the mat",
+    "Use the right arm to grab the medium shoe with synthetic material from the table and set it on the mat",
+    "Take the white shoe with curved top with the right arm and place it carefully on the mat",
+    "Use the right arm to lift the white shoe from the table and set it on the mat",
+    "Use the right arm to grab the shoe with black accents from the table and move it to the mat",
+    "Take the white shoe from the table and carefully drop it on the mat",
+    "Lift the rubber-soled black-striped shoe from the table and place it carefully on the mat",
+    "Grab the sports shoe white and black on the table and move it to the mat",
+    "Using the right arm, lift the synthetic leather white shoe from the table and place it onto the mat",
+    "Move the shoe with black accents from the table to the mat",
+    "Pick up the synthetic leather white shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe from the table and set it on the mat",
+    "Take the medium-sized shoe from the table and put it on the mat",
+    "Use the right arm to lift the white shoe from the table and set it on the mat",
+    "Using the right arm, grasp the white shoe with black lines from the table and place it onto the mat",
+    "Use the right arm to grab the rounded-top white shoe and put it on the mat",
+    "Grab the white shoe with three stripes using the right arm, move it from the table to the mat",
+    "Lift the white shoe with black lines off the table using the right arm and drop it on the mat",
+    "With the right arm, grab the white shoe with black lines off the table and place it onto the mat",
+    "Take the sports shoe white and black from the table and position it on the mat",
+    "Pick the white shoe with curved top up from the table and drop it directly on the mat",
+    "With the right arm, pick the medium-sized shoe up from the table and put it on the mat",
+    "Use the right arm to pick the white shoe with three stripes and position it on the mat",
+    "Grab the rounded-top white shoe from the table with the right arm and place it on the mat",
+    "Move the synthetic leather white shoe from the table to the mat",
+    "Transfer the white shoe with three stripes from the table to the mat",
+    "With the right arm, grab the shoe with black accents from the table and place it on the mat",
+    "Grab the medium shoe with synthetic material from the table and place it on the mat",
+    "Lift the synthetic leather white shoe from the table and place it onto the mat",
+    "Take the white shoe with three stripes and put it on the mat",
+    "Move the rounded-top white shoe from the table and place it down on the mat",
+    "Pick up the white shoe with curved top and move it to the mat",
+    "Lift the rounded-top white shoe and place it on the mat",
+    "Pick the medium shoe with synthetic material up from the table and put it on the mat"
+  ]
+}
diff --git a/shake_bottle_horizontally/episode_0000045/TCP_head/metadata.json b/shake_bottle_horizontally/episode_0000045/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3dd9c563f086110d757804e25705ad365c7e18c
--- /dev/null
+++ b/shake_bottle_horizontally/episode_0000045/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    291,
+    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_0000045/TCP_third/metadata.json b/shake_bottle_horizontally/episode_0000045/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..99e80a3b42224264a98874140d2f0cd8c09cd4d3
--- /dev/null
+++ b/shake_bottle_horizontally/episode_0000045/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    291,
+    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_0000045/metadata.json b/shake_bottle_horizontally/episode_0000045/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b7789cabe07e5a015afb227eb2edfce1cfe7ad5
--- /dev/null
+++ b/shake_bottle_horizontally/episode_0000045/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "shake_bottle_horizontally",
+  "episode": "episode_0000045",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/shake_bottle_horizontally/aloha_agilex/data/episode_0000045.hdf5",
+  "num_frames": 291,
+  "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": [
+      291,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      291,
+      14
+    ],
+    "action_shape": [
+      291,
+      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 green-capped bottle and shake it horizontally.",
+    "Pick up the hand-sized bottle with grooves using the left arm, shake it horizontally.",
+    "Lift the hand-sized bottle with grooves using the left arm and shake horizontally.",
+    "Lift the green-capped bottle with the left arm, then shake it side to side.",
+    "Grip the green-capped bottle, then shake it back and forth.",
+    "Hold the green-capped bottle and move it side to side.",
+    "Use the left arm to grab the plastic bottle with ribbed pattern and move it horizontally.",
+    "Grab the brown bottle with the left arm and shake horizontally.",
+    "Pick up the small drink bottle with logo with the left arm, shake it sideways.",
+    "Hold the hand-sized bottle with grooves using the left arm and shake it horizontally.",
+    "Lift the bottle with green cap and move it side-to-side.",
+    "Move the brown bottle with green screw-on cap side-to-side after grabbing it.",
+    "Shake the small brown plastic bottle from side to side.",
+    "Shake the hand-sized bottle with grooves side-to-side after grabbing it.",
+    "Use the left arm to grab the green-capped bottle and shake horizontally.",
+    "Hold the brown bottle with green screw-on cap with the left arm and move it left and right.",
+    "Using the left arm, shake the hand-sized bottle with grooves horizontally.",
+    "Pick the small drink bottle with logo using the left arm and move it horizontally.",
+    "Pick up the bottle with tapered cylindrical shape using the left arm and shake sideways.",
+    "Grab the brown bottle with white printed label and shake in a horizontal motion.",
+    "Pick the brown bottle, then shake it horizontally.",
+    "Shake the brown bottle with green screw-on cap horizontally.",
+    "Hold the smooth plastic bottle for beverages and move it side to side.",
+    "Using the left arm, pick up the cylindrical bottle with white label and shake sideways.",
+    "Shake the bottle with green cap side-to-side after grabbing it.",
+    "Use the left arm to hold the bottle with tapered cylindrical shape firmly and shake horizontally.",
+    "Hold the green-capped bottle steady and shake it horizontally.",
+    "Pick up the plastic bottle with ribbed pattern and shake it side to side.",
+    "Lift the bottle with green cap using the left arm and shake it sideways.",
+    "With the left arm, grab the plastic bottle with ribbed pattern and shake it horizontally.",
+    "Grab the bottle with tapered cylindrical shape and move it side-to-side repeatedly.",
+    "Pick up the small brown plastic bottle and shake it from side to side.",
+    "Use the left arm to pick the brown bottle with white printed label and shake it horizontally.",
+    "Take the plastic bottle with ribbed pattern in the left arm and shake it back and forth.",
+    "Pick up the bottle with tapered cylindrical shape and shake it horizontally.",
+    "Hold the cylindrical bottle with white label with the left arm and shake horizontally.",
+    "Shake the smooth plastic bottle for beverages smoothly without using the left arm reference.",
+    "Pick the smooth plastic bottle for beverages up and shake it horizontally.",
+    "Grab the brown bottle with green screw-on cap, shake it horizontally, then release.",
+    "Hold the bottle with green cap and shake it side to side.",
+    "Secure the bottle with tapered cylindrical shape with the left arm, shake in horizontal motion.",
+    "Shake the green-capped bottle horizontally after lifting with the left arm.",
+    "Simply shake the brown bottle horizontally without the left arm details.",
+    "Lift the green-capped bottle and move it back and forth.",
+    "Using the left arm, grab the plastic bottle with ribbed pattern and shake it sideways.",
+    "Utilize the left arm to grab the hand-sized bottle with grooves and shake sideways.",
+    "Use the left arm to hold the green-capped bottle and shake it sideways.",
+    "Grab the brown bottle using the left arm and move it side-to-side.",
+    "Grab and shake the hand-sized bottle with grooves horizontally.",
+    "Take hold of the small drink bottle with logo using the left arm and move horizontally.",
+    "Lift the small brown plastic bottle and shake it horizontally.",
+    "Pick up the brown bottle with green screw-on cap using the left arm, shake it horizontally.",
+    "Lift the brown bottle with green screw-on cap using the left arm and shake horizontally.",
+    "Lift the brown bottle with white printed label with the left arm, then shake it side to side.",
+    "Grip the bottle with green cap, then shake it back and forth.",
+    "Hold the hand-sized bottle with grooves and move it side to side.",
+    "Use the left arm to grab the small brown plastic bottle and move it horizontally.",
+    "Grab the bottle with green cap with the left arm and shake horizontally.",
+    "Pick up the hand-sized bottle with grooves with the left arm, shake it sideways.",
+    "Hold the smooth plastic bottle for beverages using the left arm and shake it horizontally.",
+    "Lift the brown bottle with white printed label and move it side-to-side.",
+    "Move the bottle with green cap side-to-side after grabbing it.",
+    "Shake the bottle with tapered cylindrical shape from side to side.",
+    "Shake the brown bottle with green screw-on cap side-to-side after grabbing it.",
+    "Use the left arm to grab the brown bottle with white printed label and shake horizontally.",
+    "Hold the brown bottle with green screw-on cap with the left arm and move it left and right.",
+    "Using the left arm, shake the small brown plastic bottle horizontally.",
+    "Pick the bottle with green cap using the left arm and move it horizontally.",
+    "Pick up the hand-sized bottle with grooves using the left arm and shake sideways.",
+    "Grab the cylindrical bottle with white label and shake in a horizontal motion.",
+    "Pick the brown bottle with white printed label, then shake it horizontally.",
+    "Shake the small drink bottle with logo horizontally.",
+    "Hold the small brown plastic bottle and move it side to side.",
+    "Using the left arm, pick up the smooth plastic bottle for beverages and shake sideways.",
+    "Shake the brown bottle with white printed label side-to-side after grabbing it.",
+    "Use the left arm to hold the small brown plastic bottle firmly and shake horizontally.",
+    "Hold the bottle with green cap steady and shake it horizontally.",
+    "Pick up the brown bottle and shake it side to side.",
+    "Lift the cylindrical bottle with white label using the left arm and shake it sideways.",
+    "With the left arm, grab the smooth plastic bottle for beverages and shake it horizontally.",
+    "Grab the plastic bottle with ribbed pattern and move it side-to-side repeatedly.",
+    "Pick up the bottle with green cap and shake it from side to side.",
+    "Use the left arm to pick the cylindrical bottle with white label and shake it horizontally.",
+    "Take the small drink bottle with logo in the left arm and shake it back and forth.",
+    "Pick up the bottle with tapered cylindrical shape and shake it horizontally.",
+    "Hold the small brown plastic bottle with the left arm and shake horizontally.",
+    "Shake the smooth plastic bottle for beverages smoothly without using the left arm reference.",
+    "Pick the bottle with green cap up and shake it horizontally.",
+    "Grab the cylindrical bottle with white label, shake it horizontally, then release.",
+    "Hold the bottle with tapered cylindrical shape and shake it side to side.",
+    "Secure the brown bottle with green screw-on cap with the left arm, shake in horizontal motion.",
+    "Shake the small brown plastic bottle horizontally after lifting with the left arm.",
+    "Simply shake the small drink bottle with logo horizontally without the left arm details.",
+    "Lift the plastic bottle with ribbed pattern and move it back and forth.",
+    "Using the left arm, grab the green-capped bottle and shake it sideways.",
+    "Utilize the left arm to grab the small brown plastic bottle and shake sideways.",
+    "Use the left arm to hold the hand-sized bottle with grooves and shake it sideways.",
+    "Grab the small brown plastic bottle using the left arm and move it side-to-side.",
+    "Grab and shake the plastic bottle with ribbed pattern horizontally.",
+    "Take hold of the small drink bottle with logo using the left arm and move horizontally."
+  ]
+}
diff --git a/stack_bowls_two/episode_0000025/TCP_third/metadata.json b/stack_bowls_two/episode_0000025/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dca971c1f881e42a3a06991ee7f775b83668a167
--- /dev/null
+++ b/stack_bowls_two/episode_0000025/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    333,
+    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"
+}