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diff --git a/place_can_basket/episode_0000021/TCP_head/metadata.json b/place_can_basket/episode_0000021/TCP_head/metadata.json
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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_0000021",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_can_basket/aloha_agilex/data/episode_0000021.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
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+    "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
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+    "action_shape": [
+      258,
+      14
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+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
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+      {
+        "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": [
+    "Take the cylindrical red drink can with logo with the left arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.",
+    "Pick the smooth red can with silver bottom, set it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Pick up the cylindrical red drink can with logo with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.",
+    "Use the left arm to put the red can with white lettering in the light brown oval basket; the other arm raises the light brown oval basket.",
+    "Use the left arm to put the rounded red Coca-Cola soda container in the brown basket with woven ridges; the other arm lifts the brown basket with woven ridges.",
+    "Pick up the Coca-Cola can, put it in the brown basket, and lift the brown basket.",
+    "Grab the red can with smooth metallic texture, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.",
+    "Take the Coca-Cola can in the left arm, place it into the woven basket, another arm lifts the woven basket.",
+    "Grab the metallic red beverage can, drop it into the woven basket, and raise the woven basket.",
+    "Place the Coca-Cola soda can in the basket with loop handle and then lift the basket with loop handle.",
+    "Use the left arm to grab the smooth red can with silver bottom, put it into the basket for holding items, and lift the basket for holding items with another arm.",
+    "Take the metallic red beverage can, set it into the basket with handle, and raise the basket with handle.",
+    "Lift the hand-sized red can for drinks, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.",
+    "Use the left arm to put the red can with smooth metallic texture in the basket with loop handle; another arm lifts the basket with loop handle.",
+    "Grab the metallic red beverage can with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Take the red can with white lettering, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Pick up the red can with white lettering, place it into the basket for holding items, then lift the basket for holding items.",
+    "Take the rounded red Coca-Cola soda container and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Lift the cylindrical red drink can with logo, place it in the basket with handle, pick up the basket with handle afterward.",
+    "Pick up the red cylindrical can with silver top, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Use the left arm to set the hand-sized red can for drinks in the brown basket; another arm lifts the brown basket.",
+    "Place the cylindrical red drink can with logo inside the basket for holding items, then lift the basket for holding items.",
+    "Drop the metallic red beverage can into the woven basket using the left arm, then lift the woven basket with another arm.",
+    "Grab the red can with smooth metallic texture, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.",
+    "Pick up the small aluminum red drink can, put it into the basket for carrying things, and lift the basket for carrying things.",
+    "Place the metallic red beverage can in the woven basket and then use another arm to lift the woven basket.",
+    "Grab the hand-sized red can for drinks, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Pick the Coca-Cola soda can with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Lift the Coca-Cola soda can, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.",
+    "Lift the Coca-Cola soda can, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Use the left arm to lower the cylindrical red drink can with logo into the smooth ribbed light brown basket; the other arm lifts the smooth ribbed light brown basket.",
+    "Pick the red can with smooth metallic texture using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Use the left arm to drop the red can with white Coca-Cola logo in the wooden basket with curved handle; the other arm lifts the wooden basket with curved handle.",
+    "Grab the red can with white lettering, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Grab the red can with white lettering, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.",
+    "Pick the hand-sized red can for drinks with one arm, place it in the brown basket, and lift the brown basket using another arm.",
+    "Use the left arm to grab the rounded red Coca-Cola soda container and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Pick the smooth red can with silver bottom, set it in the light brown oval basket, and lift the light brown oval basket upward.",
+    "Use the left arm to insert the red cylindrical can with silver top in the basket with handle; the other arm lifts the basket with handle.",
+    "Grab the Coca-Cola soda can, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.",
+    "Grab the metallic red beverage can, put it in the brown basket, then raise the brown basket.",
+    "Use the left arm to set the red cylindrical can with silver top in the brown basket; the other arm lifts the brown basket.",
+    "Use the left arm to place the smooth red can with silver bottom in the basket made of woven wood; the other arm lifts the basket made of woven wood.",
+    "Lift the red can with smooth metallic texture, place it inside the brown basket, and elevate the brown basket.",
+    "Grab and drop the red can with white lettering in the woven basket, lift the woven basket.",
+    "Pick the red can with white Coca-Cola logo with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.",
+    "Lift the metallic red beverage can, drop it into the brown basket, then carry the brown basket.",
+    "Use one arm for the Coca-Cola soda can, then the other arm lifts the woven basket.",
+    "Pick up the rounded red Coca-Cola soda container, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Use the left arm to place the smooth red can with silver bottom in the oval-shaped basket with woven body; another arm lifts the oval-shaped basket with woven body.",
+    "Take the metallic red beverage can with the left arm, drop it into the basket with handle, and lift the basket with handle using another arm.",
+    "Pick the red can with white Coca-Cola logo, set it in the basket for holding items, then lift the basket for holding items.",
+    "Pick up the metallic red beverage can with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.",
+    "Use the left arm to put the Coca-Cola soda can in the oval-shaped basket with woven body; the other arm raises the oval-shaped basket with woven body.",
+    "Use the left arm to put the red can with white Coca-Cola logo in the basket with loop handle; the other arm lifts the basket with loop handle.",
+    "Pick up the smooth red can with silver bottom, put it in the basket for carrying things, and lift the basket for carrying things.",
+    "Grab the rounded red Coca-Cola soda container, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.",
+    "Take the red can with white Coca-Cola logo in the left arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.",
+    "Grab the small aluminum red drink can, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Place the red can with white Coca-Cola logo in the basket for holding items and then lift the basket for holding items.",
+    "Use the left arm to grab the hand-sized red can for drinks, put it into the woven basket, and lift the woven basket with another arm.",
+    "Take the Coca-Cola soda can, set it into the woven basket, and raise the woven basket.",
+    "Lift the Coca-Cola can, set it in the basket for holding items, and elevate the basket for holding items.",
+    "Use the left arm to put the rounded red Coca-Cola soda container in the woven basket; another arm lifts the woven basket.",
+    "Grab the rounded red Coca-Cola soda container with the left arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Take the metallic red beverage can, place it into the basket for holding items, then lift the basket for holding items.",
+    "Pick up the smooth red can with silver bottom, place it into the basket with handle, then lift the basket with handle.",
+    "Take the smooth red can with silver bottom and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Lift the metallic red beverage can, place it in the basket for holding items, pick up the basket for holding items afterward.",
+    "Pick up the Coca-Cola can, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Use the left arm to set the red can with smooth metallic texture in the wooden basket with curved handle; another arm lifts the wooden basket with curved handle.",
+    "Place the Coca-Cola can inside the basket with loop handle, then lift the basket with loop handle.",
+    "Drop the red can with white Coca-Cola logo into the basket for carrying things using the left arm, then lift the basket for carrying things with another arm.",
+    "Grab the metallic red beverage can, drop it into the light brown oval basket, then use another arm for the light brown oval basket.",
+    "Pick up the smooth red can with silver bottom, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Place the red cylindrical can with silver top in the basket with handle and then use another arm to lift the basket with handle.",
+    "Grab the red can with smooth metallic texture, set it into the basket for holding items, then raise the basket for holding items.",
+    "Pick the red can with white lettering with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Lift the rounded red Coca-Cola soda container, put it in the light brown oval basket, and carry the light brown oval basket afterward.",
+    "Lift the small aluminum red drink can, place it in the brown basket, and raise the brown basket.",
+    "Use the left arm to lower the red can with white lettering into the basket with handle; the other arm lifts the basket with handle.",
+    "Pick the metallic red beverage can using the left arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.",
+    "Use the left arm to drop the small aluminum red drink can in the basket for carrying things; the other arm lifts the basket for carrying things.",
+    "Grab the red can with white Coca-Cola logo, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Grab the rounded red Coca-Cola soda container, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket using the other arm.",
+    "Pick the red can with smooth metallic texture with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Use the left arm to grab the cylindrical red drink can with logo and place in the basket made of woven wood, lift the basket made of woven wood with another arm.",
+    "Pick the Coca-Cola can, set it in the basket with loop handle, and lift the basket with loop handle upward.",
+    "Use the left arm to insert the Coca-Cola soda can in the basket with loop handle; the other arm lifts the basket with loop handle.",
+    "Grab the Coca-Cola can, drop it into the brown basket, and raise the brown basket with the other arm.",
+    "Grab the red can with white lettering, put it in the brown basket, then raise the brown basket.",
+    "Use the left arm to set the cylindrical red drink can with logo in the wooden basket with curved handle; the other arm lifts the wooden basket with curved handle.",
+    "Use the left arm to place the cylindrical red drink can with logo in the wooden basket with curved handle; the other arm lifts the wooden basket with curved handle.",
+    "Lift the red can with smooth metallic texture, place it inside the basket with handle, and elevate the basket with handle.",
+    "Grab and drop the red cylindrical can with silver top in the basket with handle, lift the basket with handle.",
+    "Pick the red cylindrical can with silver top with the left arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.",
+    "Lift the red can with white lettering, drop it into the woven basket, then carry the woven basket.",
+    "Use one arm for the metallic red beverage can, then the other arm lifts the brown basket.",
+    "Pick up the rounded red Coca-Cola soda container, set it inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Use the left arm to place the rounded red Coca-Cola soda container in the brown basket; another arm lifts the brown basket."
+  ]
+}
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b452b30a83fd4494811241aba2b04d0ed2b5357bbd0d09402b6b76f89637160c
+size 11496
diff --git a/stack_bowls_three/episode_0000049/TCP_third/metadata.json b/stack_bowls_three/episode_0000049/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..275aeecbeed9b1046ff058a9a247e4731bc3c03c
--- /dev/null
+++ b/stack_bowls_three/episode_0000049/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    505,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/stack_bowls_two/episode_0000003/TCP_head/metadata.json b/stack_bowls_two/episode_0000003/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc0ad16ee8599c67996af414cec3b1ee30345f40
--- /dev/null
+++ b/stack_bowls_two/episode_0000003/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    321,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/stack_bowls_two/episode_0000003/metadata.json b/stack_bowls_two/episode_0000003/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..87ef4e23c134d9099c028bc1730cf3b0dec58eba
--- /dev/null
+++ b/stack_bowls_two/episode_0000003/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stack_bowls_two",
+  "episode": "episode_0000003",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_bowls_two/aloha_agilex/data/episode_0000003.hdf5",
+  "num_frames": 321,
+  "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": [
+      321,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      321,
+      14
+    ],
+    "action_shape": [
+      321,
+      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": [
+    "Place the rounded bowl with light blue color down and stack the glazed bowl with curved sides on top.",
+    "Position the small bowl with brown edge and stack the curved bowl light blue shade securely onto it.",
+    "Hold the dark inside bowl light blue outside and stack the bowl with shiny texture neatly atop.",
+    "Take the curved bowl light blue shade, align the small bowl with brown edge, and stack them.",
+    "Stack the glazed bowl with curved sides carefully over the blue bowl.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Arrange the blue bowl, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Grab the ceramic bowl, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the rounded bowl with light blue color.",
+    "Put the blue bowl with slightly rounded base first, then bring the blue bowl to stack above.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the rounded bowl with light blue color on top.",
+    "Place the small bowl with brown edge down, then set the ceramic bowl above it.",
+    "Use the arm to place the ceramic bowl, then stack the blue bowl on top.",
+    "Pick up the blue bowl, place it down, then position the ceramic bowl on top.",
+    "Set the bowl with brown outer rim down, then add the ceramic bowl with earthy brown trim over it.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Pick up the blue bowl with slightly rounded base and set the glazed bowl with curved sides on it.",
+    "Place the bowl with shiny texture on the surface, then stack the glazed bowl with curved sides above it.",
+    "Hold the dark inside bowl light blue outside steady and slide the medium-sized bowl for holding food on.",
+    "Lift the ceramic bowl, then stack it on the blue bowl with slightly rounded base.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the small bowl with brown edge.",
+    "Set down the bowl with brown outer rim and drop the dark inside bowl light blue outside on top.",
+    "Set the glazed bowl with curved sides over the rounded bowl with light blue color to create the stack.",
+    "Lift the bowl with brown outer rim, position the blue bowl with slightly rounded base above it, and stack.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the medium-sized bowl for holding food on it.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the bowl with shiny texture on top.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the blue bowl over it.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the rounded bowl with light blue color over it.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Position the rounded bowl with light blue color, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "Lift the bowl with shiny texture and position it neatly over the bowl with brown outer rim.",
+    "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge on top of the blue bowl with slightly rounded base.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the curved bowl light blue shade using the left arm.",
+    "Grasp the blue bowl, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Take the dark inside bowl light blue outside, place it, and stack the glazed bowl with curved sides on top.",
+    "Pick the blue bowl, position the blue bowl, and place it over the blue bowl.",
+    "With the left arm, lift the bowl with shiny texture and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the rounded bowl with light blue color on top.",
+    "Take the dark inside bowl light blue outside, place the small bowl with brown edge above, and let go.",
+    "Position the ceramic bowl with the arm, then set the rounded bowl with light blue color above it.",
+    "Position the rounded bowl with light blue color carefully on the curved bowl light blue shade.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the bowl with brown outer rim on top.",
+    "Lift the blue bowl with slightly rounded base, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "the blue bowl with slightly rounded base goes at the bottom, the blue bowl rests above.",
+    "Align the curved bowl light blue shade over the small bowl with brown edge, then complete the stack.",
+    "Align the bowl with shiny texture and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the bowl with shiny texture with the left arm.",
+    "Place the small bowl with brown edge down and stack the blue bowl on top.",
+    "Position the bowl with brown outer rim and stack the dark inside bowl light blue outside securely onto it.",
+    "Hold the rounded bowl with light blue color and stack the blue bowl neatly atop.",
+    "Take the rounded bowl with light blue color, align the blue bowl, and stack them.",
+    "Stack the ceramic bowl carefully over the small bowl with brown edge.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Arrange the medium-sized bowl for holding food, lift the ceramic bowl with the arm, and stack them.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the ceramic bowl, and stack them.",
+    "Stack the medium-sized bowl for holding food securely on top of the bowl with brown outer rim.",
+    "Put the glazed bowl with curved sides first, then bring the bowl with brown outer rim to stack above.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the bowl with brown outer rim on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the rounded bowl with light blue color above it.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the rounded bowl with light blue color on top.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Set the blue bowl with slightly rounded base down, then add the rounded bowl with light blue color over it.",
+    "Pick up the dark inside bowl light blue outside, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Pick up the blue bowl with slightly rounded base and set the medium-sized bowl for holding food on it.",
+    "Place the curved bowl light blue shade on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Hold the medium-sized bowl for holding food steady and slide the dark inside bowl light blue outside on.",
+    "Lift the glazed bowl with curved sides, then stack it on the blue bowl.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the rounded bowl with light blue color.",
+    "Set down the blue bowl and drop the blue bowl with slightly rounded base on top.",
+    "Set the ceramic bowl over the medium-sized bowl for holding food to create the stack.",
+    "Lift the blue bowl, position the small bowl with brown edge above it, and stack.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the bowl with shiny texture on it.",
+    "Grab the small bowl with brown edge, then carefully place the dark inside bowl light blue outside on top.",
+    "Take the bowl with shiny texture, position it, then stack the small bowl with brown edge directly above.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the curved bowl light blue shade over it.",
+    "Grab the bowl with shiny texture, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the blue bowl above.",
+    "Position the blue bowl with slightly rounded base, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Lift the small bowl with brown edge and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Place the blue bowl with slightly rounded base down, then set the bowl with brown outer rim on top of the blue bowl with slightly rounded base.",
+    "Pick up the ceramic bowl using the left arm, then stack the rounded bowl with light blue color using the left arm.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Take the curved bowl light blue shade, place it, and stack the dark inside bowl light blue outside on top.",
+    "Pick the rounded bowl with light blue color, position the blue bowl with slightly rounded base, and place it over the rounded bowl with light blue color.",
+    "With the left arm, lift the blue bowl and stack the blue bowl using the left arm.",
+    "Grab the bowl with shiny texture, position it, and place the blue bowl with slightly rounded base on top.",
+    "Take the glazed bowl with curved sides, place the rounded bowl with light blue color above, and let go.",
+    "Position the curved bowl light blue shade with the arm, then set the ceramic bowl above it.",
+    "Position the dark inside bowl light blue outside carefully on the rounded bowl with light blue color.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Lift the medium-sized bowl for holding food, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the medium-sized bowl for holding food.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "the curved bowl light blue shade goes at the bottom, the ceramic bowl rests above.",
+    "Align the rounded bowl with light blue color over the medium-sized bowl for holding food, then complete the stack.",
+    "Align the ceramic bowl and the ceramic bowl, then stack the ceramic bowl on the ceramic bowl.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Place the bowl with brown outer rim down and stack the bowl with brown outer rim on top.",
+    "Position the curved bowl light blue shade and stack the blue bowl with slightly rounded base securely onto it."
+  ]
+}
diff --git a/stack_bowls_two/episode_0000019/TCP_third/metadata.json b/stack_bowls_two/episode_0000019/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..19db880272efbc1b49b9e2c43a2a41acf2e6f62c
--- /dev/null
+++ b/stack_bowls_two/episode_0000019/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    334,
+    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/stamp_seal/episode_0000032/TCP_third/metadata.json b/stamp_seal/episode_0000032/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc942a4e69160656d171d79548386c5c4c174599
--- /dev/null
+++ b/stamp_seal/episode_0000032/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    146,
+    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"
+}