diff --git a/dump_bin_bigbin/episode_0000019/TCP_head/metadata.json b/dump_bin_bigbin/episode_0000019/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..da8791556365a8b717053d10e44e1aa71a514a83
--- /dev/null
+++ b/dump_bin_bigbin/episode_0000019/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    177,
+    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/dump_bin_bigbin/episode_0000019/metadata.json b/dump_bin_bigbin/episode_0000019/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..36804d9c18a4e77cb1dfb89a0b35dae63dffd568
--- /dev/null
+++ b/dump_bin_bigbin/episode_0000019/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "dump_bin_bigbin",
+  "episode": "episode_0000019",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/dump_bin_bigbin/aloha_agilex/data/episode_0000019.hdf5",
+  "num_frames": 177,
+  "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": [
+      177,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      177,
+      14
+    ],
+    "action_shape": [
+      177,
+      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 minimalist gray tabletrashbin, pour its contents out.",
+    "Grab the light gray tabletrashbin, then pour balls into the bin.",
+    "Lift the cylindrical tabletrashbin and pour balls into the bin.",
+    "Take the light gray smooth tabletrashbin and pour the balls.",
+    "Lift up the small tabletop trashbin, then pour balls.",
+    "Raise the round gray tabletrashbin to dump its contents out.",
+    "Pick the light gray smooth tabletrashbin up, pour all balls inside bin",
+    "Hold the light gray smooth tabletrashbin and pour all balls into bin",
+    "Hold the open-top tabletrashbin, dump balls in big bin",
+    "Grab the minimalist gray tabletrashbin with arm and pour contents",
+    "Use the arm to empty the plastic tabletrashbin into the bin.",
+    "Use the light gray tabletrashbin to pour the balls out.",
+    "Grab and tilt the simple tabletop trashbin to empty the balls.",
+    "Use arm to pick the light gray smooth tabletrashbin, pour in bin",
+    "Pick up the simple tabletop trashbin using the arm, pour balls.",
+    "Take hold of the light gray waste container and dump the balls.",
+    "Grab the light gray waste container and pour it out.",
+    "Use the arm to lift the light gray cylindrical trashbin and empty it.",
+    "Lift the minimalist gray tabletrashbin, then pour the balls.",
+    "Hold the plastic tabletrashbin and dump its balls.",
+    "Grab the light gray cylindrical trashbin, pour its contents away.",
+    "Hold the small tabletop trashbin, then pour contents.",
+    "Grab the simple tabletop trashbin and transfer balls.",
+    "Secure the cylindrical tabletrashbin and pour the balls.",
+    "Take hold of the simple tabletop trashbin, pour contents.",
+    "Direct the arm to grab the minimalist gray tabletrashbin and tilt.",
+    "Take the plastic tabletrashbin and empty balls into the bin.",
+    "Take the round gray tabletrashbin and empty its contents.",
+    "Pick up the minimalist gray tabletrashbin and pour carefully.",
+    "Lift the light gray waste container, pour into the big bin.",
+    "Grab the small tabletop trashbin and empty it into the bin.",
+    "Take the cylindrical tabletrashbin using arm, pour contents inside",
+    "Use arm to grab the open-top tabletrashbin, dump contents",
+    "Use the arm to move the light gray cylindrical trashbin and pour.",
+    "Pick up the light gray waste container and pour into bin.",
+    "Lift the light gray smooth tabletrashbin, pour contents into big bin",
+    "Lift the small tabletop trashbin and pour contents down.",
+    "Lift the light gray cylindrical trashbin and pour its contents into bin.",
+    "Grab the light gray tabletrashbin and transfer balls to the bin.",
+    "Hold the open gray tabletrashbin and pour the balls.",
+    "Use the arm to grab the minimalist gray tabletrashbin and pour.",
+    "Pour balls from the light gray smooth tabletrashbin into the bin.",
+    "Pick up the round gray tabletrashbin, empty into the big bin",
+    "Grasp the light gray waste container and empty it out.",
+    "Control the arm to raise the simple tabletop trashbin and pour.",
+    "Lift the light gray tabletrashbin using the arm to pour balls.",
+    "Lift the light gray tabletrashbin, pour the balls into big bin",
+    "Take the light gray cylindrical trashbin and pour contents.",
+    "Take the minimalist gray tabletrashbin and pour the balls out.",
+    "Move the arm, take the light gray tabletrashbin, and pour.",
+    "Pick the small tabletop trashbin, pour its contents out.",
+    "Grab the small tabletop trashbin, then pour balls into the bin.",
+    "Lift the light gray waste container and pour balls into the bin.",
+    "Take the light gray smooth tabletrashbin and pour the balls.",
+    "Lift up the light gray tabletrashbin, then pour balls.",
+    "Raise the simple tabletop trashbin to dump its contents out.",
+    "Pick the open-top tabletrashbin up, pour all balls inside bin",
+    "Hold the minimalist gray tabletrashbin and pour all balls into bin",
+    "Hold the open-top tabletrashbin, dump balls in big bin",
+    "Grab the cylindrical tabletrashbin with arm and pour contents",
+    "Use the arm to empty the plastic tabletrashbin into the bin.",
+    "Use the plastic tabletrashbin to pour the balls out.",
+    "Grab and tilt the small tabletop trashbin to empty the balls.",
+    "Use arm to pick the minimalist gray tabletrashbin, pour in bin",
+    "Pick up the light gray smooth tabletrashbin using the arm, pour balls.",
+    "Take hold of the plastic tabletrashbin and dump the balls.",
+    "Grab the open gray tabletrashbin and pour it out.",
+    "Use the arm to lift the light gray tabletrashbin and empty it.",
+    "Lift the plastic tabletrashbin, then pour the balls.",
+    "Hold the small tabletop trashbin and dump its balls.",
+    "Grab the light gray tabletrashbin, pour its contents away.",
+    "Hold the minimalist gray tabletrashbin, then pour contents.",
+    "Grab the plastic tabletrashbin and transfer balls.",
+    "Secure the cylindrical tabletrashbin and pour the balls.",
+    "Take hold of the plastic tabletrashbin, pour contents.",
+    "Direct the arm to grab the light gray tabletrashbin and tilt.",
+    "Take the simple tabletop trashbin and empty balls into the bin.",
+    "Take the light gray cylindrical trashbin and empty its contents.",
+    "Pick up the light gray waste container and pour carefully.",
+    "Lift the open gray tabletrashbin, pour into the big bin.",
+    "Grab the light gray waste container and empty it into the bin.",
+    "Take the minimalist gray tabletrashbin using arm, pour contents inside",
+    "Use arm to grab the open-top tabletrashbin, dump contents",
+    "Use the arm to move the simple tabletop trashbin and pour.",
+    "Pick up the light gray waste container and pour into bin.",
+    "Lift the light gray cylindrical trashbin, pour contents into big bin",
+    "Lift the light gray tabletrashbin and pour contents down.",
+    "Lift the open-top tabletrashbin and pour its contents into bin.",
+    "Grab the light gray waste container and transfer balls to the bin.",
+    "Hold the open gray tabletrashbin and pour the balls.",
+    "Use the arm to grab the cylindrical tabletrashbin and pour.",
+    "Pour balls from the light gray tabletrashbin into the bin.",
+    "Pick up the open-top tabletrashbin, empty into the big bin",
+    "Grasp the open gray tabletrashbin and empty it out.",
+    "Control the arm to raise the open gray tabletrashbin and pour.",
+    "Lift the minimalist gray tabletrashbin using the arm to pour balls.",
+    "Lift the minimalist gray tabletrashbin, pour the balls into big bin",
+    "Take the light gray tabletrashbin and pour contents.",
+    "Take the light gray tabletrashbin and pour the balls out.",
+    "Move the arm, take the open-top tabletrashbin, and pour."
+  ]
+}
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    122,
+    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": [
+    122,
+    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": "move_playingcard_away",
+  "episode": "episode_0000013",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_playingcard_away/aloha_agilex/data/episode_0000013.hdf5",
+  "num_frames": 122,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
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+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
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+    "dtype": "uint8",
+    "channel_order": "RGB"
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+    "unit": "millimeter",
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+    "per_view_constant": true
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+    "transform": "world_to_camera",
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+        "start": 13,
+        "end": 14
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+    ]
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+  "frequency_hz": 15,
+  "instructions": [
+    "Pick the box for playingcards and slide it further outward.",
+    "Grab the compact red playingcards pack and take it away from the table.",
+    "Lift the red playingcards box and relocate it off the table.",
+    "Lift the compact red playingcards pack and place it farther away with the right arm.",
+    "Move the small playingcards pack outward from the table.",
+    "Take the playingcards box with white accents and push it further away.",
+    "Grab the box for playingcards and move it further away.",
+    "Move the yellow and red playingcards box away from its position on the table.",
+    "Move the box for playingcards farther from the table using the right arm.",
+    "Lift the playingcards box with white accents and shift it outward.",
+    "With the right arm, pick up the compact red playingcards pack and slide it outward.",
+    "Pick up the smooth playingcards pack and move it farther outward.",
+    "Grab the glossy rectangular playingcards box and move it further outward.",
+    "Grab the smooth playingcards pack using the right arm and move it outward.",
+    "Use the right arm to grab the box for playingcards and move it away.",
+    "Shift the red playingcards box outward by grabbing it with the right arm.",
+    "Lift the yellow and red playingcards box and push it off the table.",
+    "Lift the compact red playingcards pack from the table and move it outward.",
+    "Relocate the red and yellow playingcards case farther outward using the right arm.",
+    "Take the playingcards box with white accents and move it away from the table.",
+    "Grab the box for playingcards using the right arm and push it outward.",
+    "Use the right arm to pick the hand-sized playingcards container and shift it outward.",
+    "Grab the small playingcards pack with the right arm and move it outward.",
+    "Place the smooth playingcards pack away from the table outward.",
+    "Take the compact red playingcards pack and place it beyond the table.",
+    "Use the right arm to pick the hand-sized playingcards container and move it outward.",
+    "Lift the hand-sized playingcards container and slide it off the table.",
+    "Lift the playingcards box with white accents using the right arm and transfer it outward.",
+    "Lift the glossy rectangular playingcards box with the right arm and move it outward.",
+    "Move the smooth playingcards pack further outward after picking it up.",
+    "Use the right arm to pick up the glossy rectangular playingcards box and push it outward.",
+    "Lift the small playingcards pack and set it away from the table.",
+    "Pick up the rectangular playingcards case and place it further away.",
+    "Grab the yellow and red playingcards box and set it beyond the table.",
+    "Shift the hand-sized playingcards container outward after grabbing it.",
+    "Take the hand-sized playingcards container and place it further outward.",
+    "Grab the red playingcards box and shift it farther away from the table.",
+    "Pick up the playingcards box with white accents using the right arm and shift it outward.",
+    "Use the right arm to grab the red and yellow playingcards case and move it aside.",
+    "Pick up the hand-sized playingcards container with the right arm and place it outward.",
+    "Slide the rectangular playingcards case off the table outward.",
+    "Move the yellow and red playingcards box off the table outward.",
+    "Using the right arm, lift the playingcards storage box and move it outward.",
+    "Use the right arm to pick up the playingcards box with white accents and move it.",
+    "Pick up the rectangular playingcards case and move it away.",
+    "Pick the box for playingcards from the table and shift it outward.",
+    "Pick the glossy rectangular playingcards box and move it outward from the table.",
+    "Grab the small playingcards pack from the table and shift it outward.",
+    "Shift the red playingcards box off the table to the side.",
+    "Pick up the small playingcards pack and shift it further outward.",
+    "Pick the red and yellow playingcards case and slide it further outward.",
+    "Grab the red playingcards box and take it away from the table.",
+    "Lift the playingcards storage box and relocate it off the table.",
+    "Lift the compact red playingcards pack and place it farther away with the right arm.",
+    "Move the playingcards box with white accents outward from the table.",
+    "Take the yellow and red playingcards box and push it further away.",
+    "Grab the hand-sized playingcards container and move it further away.",
+    "Move the playingcards storage box away from its position on the table.",
+    "Move the playingcards box with white accents farther from the table using the right arm.",
+    "Lift the small playingcards pack and shift it outward.",
+    "With the right arm, pick up the smooth playingcards pack and slide it outward.",
+    "Pick up the smooth playingcards pack and move it farther outward.",
+    "Grab the smooth playingcards pack and move it further outward.",
+    "Grab the yellow and red playingcards box using the right arm and move it outward.",
+    "Use the right arm to grab the glossy rectangular playingcards box and move it away.",
+    "Shift the smooth playingcards pack outward by grabbing it with the right arm.",
+    "Lift the smooth playingcards pack and push it off the table.",
+    "Lift the hand-sized playingcards container from the table and move it outward.",
+    "Relocate the hand-sized playingcards container farther outward using the right arm.",
+    "Take the playingcards box with white accents and move it away from the table.",
+    "Grab the glossy rectangular playingcards box using the right arm and push it outward.",
+    "Use the right arm to pick the yellow and red playingcards box and shift it outward.",
+    "Grab the smooth playingcards pack with the right arm and move it outward.",
+    "Place the hand-sized playingcards container away from the table outward.",
+    "Take the glossy rectangular playingcards box and place it beyond the table.",
+    "Use the right arm to pick the glossy rectangular playingcards box and move it outward.",
+    "Lift the yellow and red playingcards box and slide it off the table.",
+    "Lift the rectangular playingcards case using the right arm and transfer it outward.",
+    "Lift the hand-sized playingcards container with the right arm and move it outward.",
+    "Move the glossy rectangular playingcards box further outward after picking it up.",
+    "Use the right arm to pick up the box for playingcards and push it outward.",
+    "Lift the red and yellow playingcards case and set it away from the table.",
+    "Pick up the glossy rectangular playingcards box and place it further away.",
+    "Grab the playingcards storage box and set it beyond the table.",
+    "Shift the playingcards box with white accents outward after grabbing it.",
+    "Take the yellow and red playingcards box and place it further outward.",
+    "Grab the rectangular playingcards case and shift it farther away from the table.",
+    "Pick up the small playingcards pack using the right arm and shift it outward.",
+    "Use the right arm to grab the box for playingcards and move it aside.",
+    "Pick up the glossy rectangular playingcards box with the right arm and place it outward.",
+    "Slide the box for playingcards off the table outward.",
+    "Move the glossy rectangular playingcards box off the table outward.",
+    "Using the right arm, lift the hand-sized playingcards container and move it outward.",
+    "Use the right arm to pick up the box for playingcards and move it.",
+    "Pick up the small playingcards pack and move it away.",
+    "Pick the playingcards storage box from the table and shift it outward.",
+    "Pick the yellow and red playingcards box and move it outward from the table.",
+    "Grab the playingcards box with white accents from the table and shift it outward.",
+    "Shift the smooth playingcards pack off the table to the side.",
+    "Pick up the box for playingcards and shift it further outward."
+  ]
+}
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    166,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
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+  "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": [
+      167,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      167,
+      14
+    ],
+    "action_shape": [
+      167,
+      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": [
+    "Put the bowl-shaped white ceramic cup on the center of the dish plate.",
+    "Relocate the cup with black circular base from the table onto the greenish-gray flat dinner plate.",
+    "Carry the medium cup for holding liquids to the flat round greenish plate and set it down.",
+    "Pick up the white cup and place it on the medium round flat plate.",
+    "Lift the hand-sized white bowl cup with the right arm and set it on the food plate.",
+    "Grab the bowl-shaped white ceramic cup with the right arm and place it on the smooth ceramic plate.",
+    "Move the round white cup with narrow base onto the medium plate for food.",
+    "Transfer the hand-sized white bowl cup to the top of the smooth greenish table plate.",
+    "Set the white cup for serving drinks on top of the food plate.",
+    "Place the rounded white cup squarely on top of the medium round flat plate.",
+    "Place the rounded white cup onto the ceramic plate with smooth surface.",
+    "Position the rounded white cup securely on the medium plate for food.",
+    "Use the right arm to move the white glossy cup with black foot onto the smooth ceramic plate.",
+    "Center the cup with black circular base on top of the flat ceramic plate with smooth texture.",
+    "Use the right arm to position the round white cup with narrow base on the round plate.",
+    "Use the right arm to place the cup with black base onto the medium round ceramic plate.",
+    "Put the cup with black base on the center of the smooth ceramic plate.",
+    "Relocate the round white cup with narrow base from the table onto the food plate.",
+    "Carry the ceramic-like white cup to the flat ceramic plate with smooth texture and set it down.",
+    "Pick up the hand-sized white bowl cup and place it on the food plate.",
+    "Lift the cup with black base with the right arm and set it on the medium round ceramic plate.",
+    "Grab the rounded white cup with the right arm and place it on the medium round ceramic plate.",
+    "Move the medium cup for holding liquids onto the smooth ceramic plate.",
+    "Transfer the cup with black base to the top of the flat round greenish plate.",
+    "Set the rounded white cup on top of the greenish-gray flat dinner plate.",
+    "Place the hand-sized white bowl cup squarely on top of the greenish-gray flat dinner plate.",
+    "Place the white glossy cup with black foot onto the flat round greenish plate.",
+    "Position the white drinking cup securely on the greenish-gray flat dinner plate.",
+    "Use the right arm to move the bowl-shaped white ceramic cup onto the medium round flat plate.",
+    "Center the white cup on top of the medium round flat plate.",
+    "Use the right arm to position the white glossy cup with black foot on the smooth greenish table plate.",
+    "Use the right arm to place the round white cup with narrow base onto the smooth greenish table plate.",
+    "Put the round white cup with narrow base on the center of the food plate.",
+    "Relocate the white glossy cup with black foot from the table onto the food plate.",
+    "Carry the white drinking cup to the dish plate and set it down.",
+    "Pick up the white glossy cup with black foot and place it on the flat round greenish plate.",
+    "Lift the white drinking cup with the right arm and set it on the flat ceramic plate with smooth texture.",
+    "Grab the rounded white cup with the right arm and place it on the greenish-gray flat dinner plate.",
+    "Move the cup with black circular base onto the smooth greenish table plate.",
+    "Transfer the white glossy cup with black foot to the top of the flat ceramic plate with smooth texture.",
+    "Set the white drinking cup on top of the greenish-gray flat dinner plate.",
+    "Place the cup with black base squarely on top of the round plate.",
+    "Place the cup with black circular base onto the dish plate.",
+    "Position the hand-sized white bowl cup securely on the flat round greenish plate.",
+    "Use the right arm to move the white cup for serving drinks onto the flat ceramic plate with smooth texture.",
+    "Center the medium cup for holding liquids on top of the flat ceramic plate with smooth texture.",
+    "Use the right arm to position the hand-sized white bowl cup on the smooth greenish table plate.",
+    "Use the right arm to place the white cup onto the medium round flat plate.",
+    "Put the rounded white cup on the center of the medium plate for food.",
+    "Relocate the cup with black circular base from the table onto the flat ceramic plate with smooth texture.",
+    "Carry the cup with black circular base to the medium plate for food and set it down.",
+    "Pick up the round white cup with narrow base and place it on the round plate.",
+    "Lift the white drinking cup with the right arm and set it on the dish plate.",
+    "Grab the white cup for serving drinks with the right arm and place it on the medium plate for food.",
+    "Move the white cup for serving drinks onto the medium round ceramic plate.",
+    "Transfer the cup with black base to the top of the medium round flat plate.",
+    "Set the cup with black circular base on top of the food plate.",
+    "Place the white cup squarely on top of the flat ceramic plate with smooth texture.",
+    "Place the white drinking cup onto the smooth ceramic plate.",
+    "Position the rounded white cup securely on the medium plate for food.",
+    "Use the right arm to move the ceramic-like white cup onto the food plate.",
+    "Center the white glossy cup with black foot on top of the medium round ceramic plate.",
+    "Use the right arm to position the ceramic-like white cup on the smooth ceramic plate.",
+    "Use the right arm to place the ceramic-like white cup onto the round plate.",
+    "Put the cup with black base on the center of the smooth greenish table plate.",
+    "Relocate the hand-sized white bowl cup from the table onto the medium round ceramic plate.",
+    "Carry the hand-sized white bowl cup to the greenish-gray flat dinner plate and set it down.",
+    "Pick up the white glossy cup with black foot and place it on the greenish-gray flat dinner plate.",
+    "Lift the bowl-shaped white ceramic cup with the right arm and set it on the smooth greenish table plate.",
+    "Grab the cup with black base with the right arm and place it on the medium round ceramic plate.",
+    "Move the hand-sized white bowl cup onto the smooth greenish table plate.",
+    "Transfer the bowl-shaped white ceramic cup to the top of the medium round flat plate.",
+    "Set the white drinking cup on top of the dish plate.",
+    "Place the white glossy cup with black foot squarely on top of the flat round greenish plate.",
+    "Place the medium cup for holding liquids onto the smooth greenish table plate.",
+    "Position the white drinking cup securely on the ceramic plate with smooth surface.",
+    "Use the right arm to move the bowl-shaped white ceramic cup onto the medium plate for food.",
+    "Center the bowl-shaped white ceramic cup on top of the medium round ceramic plate.",
+    "Use the right arm to position the white drinking cup on the dish plate.",
+    "Use the right arm to place the white drinking cup onto the flat round greenish plate.",
+    "Put the cup with black circular base on the center of the medium round flat plate.",
+    "Relocate the cup with black circular base from the table onto the medium round flat plate.",
+    "Carry the medium cup for holding liquids to the round plate and set it down.",
+    "Pick up the white cup for serving drinks and place it on the ceramic plate with smooth surface.",
+    "Lift the white cup for serving drinks with the right arm and set it on the medium round ceramic plate.",
+    "Grab the medium cup for holding liquids with the right arm and place it on the round plate.",
+    "Move the cup with black circular base onto the greenish-gray flat dinner plate.",
+    "Transfer the ceramic-like white cup to the top of the flat ceramic plate with smooth texture.",
+    "Set the round white cup with narrow base on top of the ceramic plate with smooth surface.",
+    "Place the white cup for serving drinks squarely on top of the smooth greenish table plate.",
+    "Place the white drinking cup onto the round plate.",
+    "Position the cup with black base securely on the medium round ceramic plate.",
+    "Use the right arm to move the hand-sized white bowl cup onto the smooth ceramic plate.",
+    "Center the cup with black circular base on top of the smooth ceramic plate.",
+    "Use the right arm to position the bowl-shaped white ceramic cup on the medium round ceramic plate.",
+    "Use the right arm to place the cup with black circular base onto the greenish-gray flat dinner plate.",
+    "Put the white glossy cup with black foot on the center of the smooth greenish table plate.",
+    "Relocate the white drinking cup from the table onto the flat ceramic plate with smooth texture.",
+    "Carry the cup with black base to the medium round ceramic plate and set it down.",
+    "Pick up the ceramic-like white cup and place it on the smooth ceramic plate."
+  ]
+}
diff --git a/place_container_plate/episode_0000036/TCP_third/metadata.json b/place_container_plate/episode_0000036/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..65144383f7bbbadcec0423ff8419517c33a6494f
--- /dev/null
+++ b/place_container_plate/episode_0000036/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    167,
+    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_container_plate/episode_0000044/TCP_third/metadata.json b/place_container_plate/episode_0000044/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d4a2891c1caffba022016ad27d947544bd55212
--- /dev/null
+++ b/place_container_plate/episode_0000044/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    158,
+    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_0000026/TCP_third/metadata.json b/place_empty_cup/episode_0000026/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd0ef64d94b231c91834316b6bfbf9c00f188c3e
--- /dev/null
+++ b/place_empty_cup/episode_0000026/TCP_third/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": "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_0000044/TCP_head/metadata.json b/place_empty_cup/episode_0000044/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5fa3bdad75dda74b1151391d0692ddcd7356a34
--- /dev/null
+++ b/place_empty_cup/episode_0000044/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    178,
+    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_0000044/TCP_third/metadata.json b/place_empty_cup/episode_0000044/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f826c59097ee3c75a673a70091d7bfd01a49af6
--- /dev/null
+++ b/place_empty_cup/episode_0000044/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    178,
+    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_0000044/metadata.json b/place_empty_cup/episode_0000044/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..61c3a128967921d642c6c19e6acd678f9ce49e26
--- /dev/null
+++ b/place_empty_cup/episode_0000044/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_empty_cup",
+  "episode": "episode_0000044",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_empty_cup/aloha_agilex/data/episode_0000044.hdf5",
+  "num_frames": 178,
+  "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": [
+      178,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      178,
+      14
+    ],
+    "action_shape": [
+      178,
+      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": [
+    "Stick the blue rounded-bottom cup onto the round coaster with light streaks using the arm.",
+    "Using the arm, drop the light blue plastic cup onto the flat surface gray wooden coaster.",
+    "Grab the cup with smooth plastic surface and place it on the round coaster with light streaks.",
+    "Make sure the plastic cup for drinks ends up on the coaster made of smooth wood.",
+    "Place the cup with smooth plastic surface on top of the coaster made of smooth wood",
+    "Move the cylindrical light blue cup to the flat surface gray wooden coaster and set it down.",
+    "Slide the smooth blue cup for liquids onto the grainy texture coaster",
+    "Carefully place the plastic cup for drinks onto the coaster made of smooth wood without arm",
+    "Use the arm to slide the medium blue cylindrical cup onto the round coaster with light streaks.",
+    "Lift the cup with light blue color and place it onto the flat surface gray wooden coaster.",
+    "Grab the plastic cup for drinks and set it onto the round coaster with light streaks.",
+    "Position the cup with light blue color squarely on top of the wooden coaster.",
+    "Stick the smooth blue cup for liquids onto the flat surface gray wooden coaster using the arm",
+    "Stick the medium-sized plastic blue cup onto the round coaster carefully.",
+    "Use an arm to place the medium-sized plastic blue cup on the light gray streaked wooden coaster",
+    "Lift the cup for holding liquids and stick it onto the smooth round palm-sized coaster.",
+    "Direct the medium-sized plastic blue cup to the small coaster with grain texture and let it rest.",
+    "Use the arm to position the rounded base blue cup on the round coaster.",
+    "Align the medium blue cylindrical cup and set it down on the grainy texture coaster",
+    "Move the blue rounded-bottom cup to the grainy texture coaster",
+    "Drop the medium blue cylindrical cup on top of the round coaster with light streaks.",
+    "Use the arm to set the blue rounded-bottom cup on the coaster with circular shape",
+    "Use an arm to drop the light blue plastic cup on the round coaster.",
+    "Grab the medium blue cylindrical cup and lower it onto the wooden coaster",
+    "Lift the blue rounded-bottom cup up and drop it on the light gray round grainy coaster.",
+    "Position the blue rounded-bottom cup above and drop it on the grainy texture coaster",
+    "Set the plastic cup for drinks onto the light gray streaked wooden coaster using the arm.",
+    "Move the rounded base blue cup onto the flat round wooden coaster with the arm",
+    "Set the cup for holding liquids carefully onto the wooden coaster",
+    "Move the smooth blue cup for liquids to the grainy texture coaster using the arm.",
+    "Relocate the cup with light blue color precisely onto the coaster with circular shape with arm",
+    "Lift the smooth blue cup for liquids and place it over the round coaster",
+    "Grab the cup with smooth plastic surface, then place it onto the light gray streaked wooden coaster.",
+    "Set the cup with light blue color down on the smooth round palm-sized coaster",
+    "Drop the blue rounded-bottom cup firmly on the grainy texture coaster using arm",
+    "Set the blue rounded-bottom cup on the coaster with circular shape using the arm.",
+    "Pick the medium-sized plastic blue cup up and drop it on the round coaster with light streaks.",
+    "Position the rounded base blue cup on the coaster with circular shape with the arm.",
+    "Move the smooth blue cup for liquids using the arm onto the flat surface gray wooden coaster.",
+    "Position the smooth blue cup for liquids carefully on the flat round wooden coaster",
+    "Slide the light blue plastic cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Use arm to place the medium blue cylindrical cup on the coaster with circular shape",
+    "Grab the cup for holding liquids and place it over the smooth round palm-sized coaster.",
+    "Use an arm to drop the plastic cup for drinks on the light gray round grainy coaster",
+    "Use the arm to position the cup for holding liquids onto the flat round wooden coaster.",
+    "Slide the cup with smooth plastic surface onto the flat surface gray wooden coaster with the arm.",
+    "Set the blue rounded-bottom cup securely on the coaster made of smooth wood using the arm.",
+    "Using the arm, align the light blue plastic cup over the small coaster with grain texture",
+    "Using the arm, slide the rounded base blue cup onto the flat round wooden coaster.",
+    "Use the arm to put the cup for holding liquids onto the flat round wooden coaster.",
+    "Stick the light blue plastic cup onto the round coaster using the arm.",
+    "Using the arm, drop the smooth blue cup for liquids onto the round coaster with light streaks.",
+    "Grab the rounded base blue cup and place it on the coaster made of smooth wood.",
+    "Make sure the smooth blue drinking cup ends up on the round coaster with light streaks.",
+    "Place the smooth blue drinking cup on top of the grainy texture coaster",
+    "Move the cup with smooth plastic surface to the light gray streaked wooden coaster and set it down.",
+    "Slide the plastic cup for drinks onto the light gray streaked wooden coaster",
+    "Carefully place the medium blue cylindrical cup onto the flat round wooden coaster without arm",
+    "Use the arm to slide the plastic cup for drinks onto the round coaster with light streaks.",
+    "Lift the medium blue cylindrical cup and place it onto the round coaster.",
+    "Grab the smooth blue cup for liquids and set it onto the grainy texture coaster.",
+    "Position the plastic cup for drinks squarely on top of the coaster with circular shape.",
+    "Stick the smooth blue cup for liquids onto the flat surface gray wooden coaster using the arm",
+    "Stick the blue rounded-bottom cup onto the coaster made of smooth wood carefully.",
+    "Use an arm to place the plastic cup for drinks on the round coaster with light streaks",
+    "Lift the plastic cup for drinks and stick it onto the smooth round palm-sized coaster.",
+    "Direct the rounded base blue cup to the wooden coaster and let it rest.",
+    "Use the arm to position the blue rounded-bottom cup on the grainy texture coaster.",
+    "Align the plastic cup for drinks and set it down on the grainy texture coaster",
+    "Move the cup with smooth plastic surface to the coaster made of smooth wood",
+    "Drop the smooth blue drinking cup on top of the round coaster.",
+    "Use the arm to set the rounded base blue cup on the coaster made of smooth wood",
+    "Use an arm to drop the blue rounded-bottom cup on the light gray round grainy coaster.",
+    "Grab the cup with light blue color and lower it onto the light gray streaked wooden coaster",
+    "Lift the blue rounded-bottom cup up and drop it on the round coaster with light streaks.",
+    "Position the rounded base blue cup above and drop it on the small coaster with grain texture",
+    "Set the cup for holding liquids onto the smooth round palm-sized coaster using the arm.",
+    "Move the blue rounded-bottom cup onto the small coaster with grain texture with the arm",
+    "Set the cylindrical light blue cup carefully onto the light gray streaked wooden coaster",
+    "Move the cup for holding liquids to the wooden coaster using the arm.",
+    "Relocate the medium-sized plastic blue cup precisely onto the round coaster with arm",
+    "Lift the medium-sized plastic blue cup and place it over the coaster made of smooth wood",
+    "Grab the cylindrical light blue cup, then place it onto the flat surface gray wooden coaster.",
+    "Set the cup with smooth plastic surface down on the wooden coaster",
+    "Drop the cup with light blue color firmly on the round coaster using arm",
+    "Set the smooth blue cup for liquids on the round coaster using the arm.",
+    "Pick the smooth blue drinking cup up and drop it on the smooth round palm-sized coaster.",
+    "Position the cup with smooth plastic surface on the coaster made of smooth wood with the arm.",
+    "Move the smooth blue cup for liquids using the arm onto the grainy texture coaster.",
+    "Position the cylindrical light blue cup carefully on the flat round wooden coaster",
+    "Slide the smooth blue drinking cup gently onto the flat round wooden coaster via the arm.",
+    "Use arm to place the blue rounded-bottom cup on the light gray streaked wooden coaster",
+    "Grab the cup for holding liquids and place it over the coaster made of smooth wood.",
+    "Use an arm to drop the medium blue cylindrical cup on the flat surface gray wooden coaster",
+    "Use the arm to position the rounded base blue cup onto the round coaster with light streaks.",
+    "Slide the medium-sized plastic blue cup onto the grainy texture coaster with the arm.",
+    "Set the plastic cup for drinks securely on the wooden coaster using the arm.",
+    "Using the arm, align the light blue plastic cup over the flat surface gray wooden coaster",
+    "Using the arm, slide the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Use the arm to put the blue rounded-bottom cup onto the round coaster."
+  ]
+}
diff --git a/place_object_scale/episode_0000040/TCP_third/metadata.json b/place_object_scale/episode_0000040/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5055bf07ad8857ed0403f2b0a43cf36619d73ad2
--- /dev/null
+++ b/place_object_scale/episode_0000040/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    162,
+    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_object_scale/episode_0000043/TCP_head/metadata.json b/place_object_scale/episode_0000043/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..78bc364281df3cbdc7c96445b02db839a3bda0d3
--- /dev/null
+++ b/place_object_scale/episode_0000043/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    154,
+    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_object_scale/episode_0000043/metadata.json b/place_object_scale/episode_0000043/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e723fd6d9c14643d9a14252c77e266b7aadd3e83
--- /dev/null
+++ b/place_object_scale/episode_0000043/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_object_scale",
+  "episode": "episode_0000043",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_object_scale/aloha_agilex/data/episode_0000043.hdf5",
+  "num_frames": 154,
+  "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": [
+      154,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      154,
+      14
+    ],
+    "action_shape": [
+      154,
+      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": [
+    "Set the white bell with black bottom onto the electronicscale with smooth finish after grabbing",
+    "Set the bell with black flat base on the lightweight electronicscale after grabbing it with the left arm.",
+    "Lift the compact tabletop bell with one arm and set on the lightweight electronicscale",
+    "Pick the small desk bell for tapping and carefully move it to the handheld electronicscale",
+    "Lift the white bell with black bottom with the left arm and set it on the lightweight electronicscale.",
+    "Put the white bell with black bottom on the small weighing electronicscale without mention of arm",
+    "Pick up the white and black colored bell and drop it on the medium electronicscale with gold top",
+    "Using the left arm, grab the simple hand bell with black stand and transfer it to the compact electronicscale.",
+    "Using the left arm, grab the rounded bell with flat black part and put it on the electronicscale with digital screen",
+    "Transport the simple hand bell with black stand to the electronicscale with black display screen and put it there.",
+    "Pick up the compact tabletop bell and set it on the electronicscale with black display screen",
+    "Move the bell with black flat base to the position on the small weighing electronicscale",
+    "Pick the rounded bell with flat black part and lay it down gently onto the electronicscale with black display screen",
+    "Using the left arm, grab the simple hand bell with black stand and place on the electronicscale with smooth finish",
+    "Using the left arm, grasp the white dome bell and position it on the handheld electronicscale",
+    "Place the small desk bell for tapping on the white body electronicscale with one arm",
+    "Move the rounded bell with flat black part to the handheld electronicscale and leave it there.",
+    "Lift the bell with metallic top and plastic base and drop it onto the electronicscale with digital screen",
+    "Lift the simple hand bell with black stand and place on the lightweight electronicscale",
+    "Hold the bell with black flat base with the left arm, set it down on the handheld electronicscale",
+    "Use one arm to place the white bell on the compact electronicscale",
+    "Use the left arm to grab the white bell for the compact electronicscale",
+    "Lift the bell shaped like half-circle dome and stick it on the small weighing electronicscale carefully",
+    "Take the white bell with black bottom and put it down on the compact electronicscale",
+    "Utilize the left arm to grab the white bell with black bottom and place on the handheld electronicscale",
+    "Grab the bell with metallic top and plastic base and carefully set it on the lightweight electronicscale",
+    "With the left arm, secure the simple hand bell with black stand then release it on the electronicscale with digital screen",
+    "Use the left arm to hold the white bell with black bottom and drop it on the electronicscale",
+    "Place the white and black colored bell on the electronicscale for measuring weights after picking it",
+    "Grab the rounded bell with flat black part and drop it on the white body electronicscale",
+    "Take the white dome bell and lay it onto the electronicscale with black display screen",
+    "Grab the bell with metallic top and plastic base with the left arm and set it on the lightweight electronicscale",
+    "Take the white and black colored bell and place it over the white electronicscale",
+    "With the left arm, pick the plastic and metal bell and position it on the electronicscale",
+    "After grabbing the white bell with black bottom, place it on the electronicscale for measuring weights.",
+    "Place the small desk bell for tapping onto the medium electronicscale with gold top using the left arm.",
+    "Pick the plastic and metal bell with the left arm and move it to the compact electronicscale",
+    "Pick the white bell up and set it on the electronicscale with digital screen.",
+    "Lift the white and black colored bell with the left arm and position it on the electronicscale for measuring weights",
+    "Set the compact tabletop bell down on the electronicscale using one arm",
+    "Place the white dome bell carefully on the electronicscale with digital screen using the left arm",
+    "Carry the rounded bell with flat black part with one arm to the compact electronicscale",
+    "Using the left arm, pick the rounded bell with flat black part then place it on the electronicscale",
+    "Use the left arm to lift the bell with black flat base and place on the electronicscale with smooth finish.",
+    "Use the left arm to lift the bell shaped like half-circle dome onto the electronicscale with smooth finish",
+    "With the left arm, lift the bell shaped like half-circle dome to set it on the compact electronicscale",
+    "Pick up the simple hand bell with black stand and set it on the electronicscale with smooth finish",
+    "Lift the white dome bell and position it on the electronicscale with black display screen",
+    "Grab the small desk bell for tapping, then place it smoothly on the medium electronicscale with gold top",
+    "Pick up the white bell and drop it on the electronicscale with black display screen.",
+    "Set the plastic and metal bell onto the small weighing electronicscale after grabbing",
+    "Set the simple hand bell with black stand on the electronicscale with black display screen after grabbing it with the left arm.",
+    "Lift the bell shaped like half-circle dome with one arm and set on the handheld electronicscale",
+    "Pick the simple hand bell with black stand and carefully move it to the white body electronicscale",
+    "Lift the plastic and metal bell with the left arm and set it on the lightweight electronicscale.",
+    "Put the white dome bell on the white body electronicscale without mention of arm",
+    "Pick up the white dome bell and drop it on the electronicscale with black display screen",
+    "Using the left arm, grab the white and black colored bell and transfer it to the electronicscale.",
+    "Using the left arm, grab the white bell with black bottom and put it on the handheld electronicscale",
+    "Transport the white and black colored bell to the white electronicscale and put it there.",
+    "Pick up the small desk bell for tapping and set it on the compact electronicscale",
+    "Move the small desk bell for tapping to the position on the small weighing electronicscale",
+    "Pick the simple hand bell with black stand and lay it down gently onto the lightweight electronicscale",
+    "Using the left arm, grab the bell with black flat base and place on the small weighing electronicscale",
+    "Using the left arm, grasp the bell with black flat base and position it on the electronicscale with black display screen",
+    "Place the bell with black flat base on the electronicscale with smooth finish with one arm",
+    "Move the white bell with black bottom to the compact electronicscale and leave it there.",
+    "Lift the simple hand bell with black stand and drop it onto the lightweight electronicscale",
+    "Lift the bell shaped like half-circle dome and place on the white body electronicscale",
+    "Hold the bell shaped like half-circle dome with the left arm, set it down on the white body electronicscale",
+    "Use one arm to place the white bell with black bottom on the electronicscale with black display screen",
+    "Use the left arm to grab the compact tabletop bell for the small weighing electronicscale",
+    "Lift the white bell with black bottom and stick it on the electronicscale carefully",
+    "Take the white bell and put it down on the medium electronicscale with gold top",
+    "Utilize the left arm to grab the bell with black flat base and place on the compact electronicscale",
+    "Grab the white bell and carefully set it on the handheld electronicscale",
+    "With the left arm, secure the simple hand bell with black stand then release it on the electronicscale with black display screen",
+    "Use the left arm to hold the white and black colored bell and drop it on the electronicscale with smooth finish",
+    "Place the white and black colored bell on the electronicscale with smooth finish after picking it",
+    "Grab the small desk bell for tapping and drop it on the electronicscale with smooth finish",
+    "Take the white dome bell and lay it onto the electronicscale for measuring weights",
+    "Grab the white bell with black bottom with the left arm and set it on the lightweight electronicscale",
+    "Take the compact tabletop bell and place it over the compact electronicscale",
+    "With the left arm, pick the small desk bell for tapping and position it on the electronicscale with digital screen",
+    "After grabbing the compact tabletop bell, place it on the compact electronicscale.",
+    "Place the white dome bell onto the lightweight electronicscale using the left arm.",
+    "Pick the bell with metallic top and plastic base with the left arm and move it to the lightweight electronicscale",
+    "Pick the bell shaped like half-circle dome up and set it on the handheld electronicscale.",
+    "Lift the bell with metallic top and plastic base with the left arm and position it on the electronicscale with black display screen",
+    "Set the bell shaped like half-circle dome down on the compact electronicscale using one arm",
+    "Place the white bell with black bottom carefully on the handheld electronicscale using the left arm",
+    "Carry the white and black colored bell with one arm to the handheld electronicscale",
+    "Using the left arm, pick the rounded bell with flat black part then place it on the electronicscale with digital screen",
+    "Use the left arm to lift the white dome bell and place on the electronicscale.",
+    "Use the left arm to lift the small desk bell for tapping onto the electronicscale for measuring weights",
+    "With the left arm, lift the bell with black flat base to set it on the medium electronicscale with gold top",
+    "Pick up the bell shaped like half-circle dome and set it on the white electronicscale",
+    "Lift the compact tabletop bell and position it on the white electronicscale",
+    "Grab the bell with black flat base, then place it smoothly on the compact electronicscale",
+    "Pick up the rounded bell with flat black part and drop it on the medium electronicscale with gold top."
+  ]
+}
diff --git a/place_object_stand/episode_0000009/TCP_third/metadata.json b/place_object_stand/episode_0000009/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2785aa0baf5222dc9e7543a7e2977e7b7d05fcf0
--- /dev/null
+++ b/place_object_stand/episode_0000009/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    148,
+    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_0000045/TCP_third/metadata.json b/place_shoe/episode_0000045/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..49121427770eedaf39d28f9e3b0700bd0468ad81
--- /dev/null
+++ b/place_shoe/episode_0000045/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    192,
+    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/press_stapler/episode_0000031/TCP_head/metadata.json b/press_stapler/episode_0000031/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..599e9f32519e9abfd43573a8e4fcc26db9e97b2d
--- /dev/null
+++ b/press_stapler/episode_0000031/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    118,
+    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/press_stapler/episode_0000031/metadata.json b/press_stapler/episode_0000031/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4fc9d583d75a8e3b39240180f34e76d8eb5ae6a
--- /dev/null
+++ b/press_stapler/episode_0000031/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "press_stapler",
+  "episode": "episode_0000031",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/press_stapler/aloha_agilex/data/episode_0000031.hdf5",
+  "num_frames": 118,
+  "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": [
+      118,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      118,
+      14
+    ],
+    "action_shape": [
+      118,
+      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 one arm the left arm to press the small office stapler.",
+    "Use your the left arm to press the stapler the handheld stapler.",
+    "Press down on the stapler the white body stapler with accents firmly.",
+    "Push down on the stapler with rounded edges firmly.",
+    "Apply pressure to the paper stapler with silver tray firmly",
+    "Lower the left arm onto the stapler the stapler for fastening papers.",
+    "Press the plastic and metal stapler firmly to staple",
+    "Apply pressure to the smooth plastic stapler with the left arm.",
+    "Push the smooth plastic stapler using one arm",
+    "Use one arm to press the smooth plastic stapler.",
+    "Push down on the modern design stapler to staple papers.",
+    "Press the smooth plastic stapler downward using your arm the left arm.",
+    "Press on the stapler with orange top lever using the left arm.",
+    "Press the handheld stapler to complete the task.",
+    "Push the stapler the stapler for fastening papers to activate it.",
+    "Apply force to the stapler with orange button with the left arm",
+    "Apply pressure to the paper stapler with silver tray with the left arm.",
+    "Push down on the stapler the white stapler with rounded design.",
+    "Push down forcefully on the stapler the stapler with orange button.",
+    "Press the stapler the small office stapler using an arm the left arm.",
+    "Use your arm the left arm to push the white stapler with rounded design down.",
+    "Use an arm to press the stapler for fastening papers",
+    "Push down hard on the stapler for fastening papers with the left arm.",
+    "Apply one arm the left arm to press the white body stapler with accents firmly.",
+    "Push the paper stapler with silver tray down completely",
+    "Push the top of the paper stapler with silver tray down",
+    "Lower the handheld stapler using an arm",
+    "Push down on the stapler the stapler with orange button.",
+    "Apply pressure to the paper stapler with silver tray using one arm the left arm.",
+    "Press the white stapler with rounded design until it works",
+    "Push down on the stapler with rounded edges to staple",
+    "Firmly press the small office stapler using an arm.",
+    "Apply force to the stapler with orange top lever to staple.",
+    "Push the stapler the white body stapler with accents with the left arm.",
+    "Firmly push down on the stapler with rounded edges.",
+    "Firmly press down on the stapler with orange top lever to staple.",
+    "Press down on the stapler with orange top lever until it functions.",
+    "Engage the white stapler with rounded design by using the left arm to press it.",
+    "Operate the paper stapler with silver tray by pressing it with the left arm.",
+    "Apply pressure on the modern design stapler until it works.",
+    "Push down firmly on the modern design stapler to complete.",
+    "Simply press the stapler the white stapler with rounded design downward.",
+    "Apply enough force to the small office stapler to press it.",
+    "Push the plastic and metal stapler until it staples.",
+    "Firmly push the paper stapler with silver tray using the left arm to operate it.",
+    "Push the stapler the modern design stapler to operate it.",
+    "Press the stapler for fastening papers to staple the sheets together.",
+    "Place pressure on the smooth plastic stapler to staple.",
+    "Push the smooth plastic stapler down firmly.",
+    "Press on the stapler with orange top lever to activate it.",
+    "Use one arm the left arm to press the white stapler with rounded design.",
+    "Use your the left arm to press the stapler the stapler with orange top lever.",
+    "Press down on the stapler the stapler with rounded edges firmly.",
+    "Push down on the paper stapler with silver tray firmly.",
+    "Apply pressure to the small office stapler firmly",
+    "Lower the left arm onto the stapler the paper stapler with silver tray.",
+    "Press the white stapler with rounded design firmly to staple",
+    "Apply pressure to the white stapler with rounded design with the left arm.",
+    "Push the small office stapler using one arm",
+    "Use one arm to press the handheld stapler.",
+    "Push down on the paper stapler with silver tray to staple papers.",
+    "Press the stapler with orange button downward using your arm the left arm.",
+    "Press on the stapler for fastening papers using the left arm.",
+    "Press the stapler with rounded edges to complete the task.",
+    "Push the stapler the modern design stapler to activate it.",
+    "Apply force to the handheld stapler with the left arm",
+    "Apply pressure to the stapler with rounded edges with the left arm.",
+    "Push down on the stapler the stapler for fastening papers.",
+    "Push down forcefully on the stapler the stapler with orange button.",
+    "Press the stapler the stapler with rounded edges using an arm the left arm.",
+    "Use your arm the left arm to push the handheld stapler down.",
+    "Use an arm to press the stapler with orange button",
+    "Push down hard on the stapler with rounded edges with the left arm.",
+    "Apply one arm the left arm to press the modern design stapler firmly.",
+    "Push the white body stapler with accents down completely",
+    "Push the top of the small office stapler down",
+    "Lower the modern design stapler using an arm",
+    "Push down on the stapler the paper stapler with silver tray.",
+    "Apply pressure to the white body stapler with accents using one arm the left arm.",
+    "Press the stapler with orange top lever until it works",
+    "Push down on the white stapler with rounded design to staple",
+    "Firmly press the white stapler with rounded design using an arm.",
+    "Apply force to the plastic and metal stapler to staple.",
+    "Push the stapler the paper stapler with silver tray with the left arm.",
+    "Firmly push down on the plastic and metal stapler.",
+    "Firmly press down on the smooth plastic stapler to staple.",
+    "Press down on the white body stapler with accents until it functions.",
+    "Engage the stapler with orange top lever by using the left arm to press it.",
+    "Operate the smooth plastic stapler by pressing it with the left arm.",
+    "Apply pressure on the small office stapler until it works.",
+    "Push down firmly on the small office stapler to complete.",
+    "Simply press the stapler the stapler with orange button downward.",
+    "Apply enough force to the smooth plastic stapler to press it.",
+    "Push the small office stapler until it staples.",
+    "Firmly push the paper stapler with silver tray using the left arm to operate it.",
+    "Push the stapler the paper stapler with silver tray to operate it.",
+    "Press the stapler with orange button to staple the sheets together.",
+    "Place pressure on the white stapler with rounded design to staple.",
+    "Push the white stapler with rounded design down firmly.",
+    "Press on the white stapler with rounded design to activate it."
+  ]
+}
diff --git a/turn_switch/episode_0000010/TCP_head/metadata.json b/turn_switch/episode_0000010/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cff6b04fbcb5a6a6df18506e7481d5c49e78961
--- /dev/null
+++ b/turn_switch/episode_0000010/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    92,
+    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/turn_switch/episode_0000010/TCP_third/metadata.json b/turn_switch/episode_0000010/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1af69eb043266805298a57954d2a30832401a00a
--- /dev/null
+++ b/turn_switch/episode_0000010/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    92,
+    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/turn_switch/episode_0000010/metadata.json b/turn_switch/episode_0000010/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4784956bebf400b08f97a482fa613fb8e2ad946b
--- /dev/null
+++ b/turn_switch/episode_0000010/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "turn_switch",
+  "episode": "episode_0000010",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/turn_switch/aloha_agilex/data/episode_0000010.hdf5",
+  "num_frames": 92,
+  "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": [
+      92,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      92,
+      14
+    ],
+    "action_shape": [
+      92,
+      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": [
+    "Deploy the left arm to operate the black base switch",
+    "Toggle the switch with three metal pins with the left arm.",
+    "Press the smooth red switch with labels to activate.",
+    "Press the toggle switch with black housing using robotic control",
+    "Operate the left arm to engage the plastic switch with metal prongs",
+    "Use the left arm to interact with the switch with three metal pins",
+    "Activate the black base switch with robotic precision",
+    "Press the toggle switch with black housing with the left arm",
+    "Engage with the tiny rectangular switch manually",
+    "Deploy the left arm to press the smooth red switch with labels",
+    "Activate the two-tone red black switch using the left arm",
+    "Command the left arm to engage the small switch with red lever",
+    "Use the left arm for switching the small switch with red lever",
+    "Switch the metal-pronged black switch to its active state",
+    "Use the left arm to engage the two-tone red black switch",
+    "Direct the left arm to operate the small switch with red lever",
+    "Locate and press the plastic switch with metal prongs",
+    "Click on the black base switch precisely",
+    "Press the switch for turning circuits on off carefully with the left arm",
+    "Initiate the rectangular switch by clicking",
+    "Push the switch for turning circuits on off via the left arm.",
+    "Click the toggle switch with black housing using automated tools",
+    "Locate and press the tiny rectangular switch",
+    "Click the red and black electrical switch with robotic precision",
+    "Operate the plastic switch with metal prongs with the left arm",
+    "Activate the tiny rectangular switch via the left arm",
+    "Engage the rectangular switch using the left arm",
+    "Click the rectangular switch to activate it",
+    "Engage the left arm to press the switch for turning circuits on off",
+    "Set the switch at the red and black electrical switch",
+    "Activate the black base switch directly",
+    "Tap the rectangular switch to engage it",
+    "Interact with the black base switch directly",
+    "Trigger the plastic switch with metal prongs without referencing the left arm",
+    "Engage the red and black electrical switch using the robotic arm",
+    "Approach and tap the rectangular switch via the left arm",
+    "Interact with the small switch with red lever.",
+    "Activate the small switch with red lever with the left arm.",
+    "Press the switch with three metal pins via automation",
+    "Directly interact with the switch for turning circuits on off",
+    "Move to the black base switch and click it.",
+    "Engage the black base switch using the left arm.",
+    "Engage the rectangular switch with a press.",
+    "Trigger the switch with three metal pins with precision",
+    "Set the left arm to press the tiny rectangular switch",
+    "Press the tiny rectangular switch directly",
+    "Trigger the black base switch using the left arm",
+    "Press the switch with three metal pins using the left arm.",
+    "Activate the red and black electrical switch by pressing it",
+    "Click the small switch with red lever directly.",
+    "Deploy the left arm to operate the red and black electrical switch",
+    "Toggle the plastic switch with metal prongs with the left arm.",
+    "Press the red and black electrical switch to activate.",
+    "Press the switch with three metal pins using robotic control",
+    "Operate the left arm to engage the tiny rectangular switch",
+    "Use the left arm to interact with the tiny rectangular switch",
+    "Activate the tiny rectangular switch with robotic precision",
+    "Press the tiny rectangular switch with the left arm",
+    "Engage with the smooth red switch with labels manually",
+    "Deploy the left arm to press the two-tone red black switch",
+    "Activate the two-tone red black switch using the left arm",
+    "Command the left arm to engage the switch with three metal pins",
+    "Use the left arm for switching the two-tone red black switch",
+    "Switch the red and black electrical switch to its active state",
+    "Use the left arm to engage the toggle switch with black housing",
+    "Direct the left arm to operate the two-tone red black switch",
+    "Locate and press the toggle switch with black housing",
+    "Click on the switch for turning circuits on off precisely",
+    "Press the red and black electrical switch carefully with the left arm",
+    "Initiate the switch with three metal pins by clicking",
+    "Push the plastic switch with metal prongs via the left arm.",
+    "Click the rectangular switch using automated tools",
+    "Locate and press the toggle switch with black housing",
+    "Click the switch with three metal pins with robotic precision",
+    "Operate the plastic switch with metal prongs with the left arm",
+    "Activate the red and black electrical switch via the left arm",
+    "Engage the toggle switch with black housing using the left arm",
+    "Click the metal-pronged black switch to activate it",
+    "Engage the left arm to press the toggle switch with black housing",
+    "Set the switch at the toggle switch with black housing",
+    "Activate the switch for turning circuits on off directly",
+    "Tap the tiny rectangular switch to engage it",
+    "Interact with the toggle switch with black housing directly",
+    "Trigger the two-tone red black switch without referencing the left arm",
+    "Engage the smooth red switch with labels using the robotic arm",
+    "Approach and tap the plastic switch with metal prongs via the left arm",
+    "Interact with the black base switch.",
+    "Activate the toggle switch with black housing with the left arm.",
+    "Press the plastic switch with metal prongs via automation",
+    "Directly interact with the black base switch",
+    "Move to the switch with three metal pins and click it.",
+    "Engage the black base switch using the left arm.",
+    "Engage the switch with three metal pins with a press.",
+    "Trigger the two-tone red black switch with precision",
+    "Set the left arm to press the plastic switch with metal prongs",
+    "Press the rectangular switch directly",
+    "Trigger the small switch with red lever using the left arm",
+    "Press the tiny rectangular switch using the left arm.",
+    "Activate the toggle switch with black housing by pressing it",
+    "Click the toggle switch with black housing directly."
+  ]
+}
diff --git a/turn_switch/episode_0000013/TCP_third/metadata.json b/turn_switch/episode_0000013/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..50c5120a7dd696c962da1490383c336b9822ac4e
--- /dev/null
+++ b/turn_switch/episode_0000013/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    100,
+    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/turn_switch/episode_0000020/TCP_head/metadata.json b/turn_switch/episode_0000020/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cff6b04fbcb5a6a6df18506e7481d5c49e78961
--- /dev/null
+++ b/turn_switch/episode_0000020/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    92,
+    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/turn_switch/episode_0000020/TCP_third/metadata.json b/turn_switch/episode_0000020/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1af69eb043266805298a57954d2a30832401a00a
--- /dev/null
+++ b/turn_switch/episode_0000020/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    92,
+    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/turn_switch/episode_0000020/metadata.json b/turn_switch/episode_0000020/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a30cfc56d30db72696082bcd57ea75f1e254ca6c
--- /dev/null
+++ b/turn_switch/episode_0000020/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "turn_switch",
+  "episode": "episode_0000020",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/turn_switch/aloha_agilex/data/episode_0000020.hdf5",
+  "num_frames": 92,
+  "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": [
+      92,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      92,
+      14
+    ],
+    "action_shape": [
+      92,
+      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": [
+    "Initiate the plastic switch with metal prongs by clicking",
+    "Interact with the red and black electrical switch.",
+    "Set the left arm to press the plastic switch with metal prongs",
+    "Press the smooth red switch with labels using robotic control",
+    "Engage the red and black electrical switch with a press.",
+    "Activate the two-tone red black switch via the left arm",
+    "Use the left arm to interact with the metal-pronged black switch",
+    "Command the left arm to engage the small switch with red lever",
+    "Trigger the small switch with red lever using the left arm",
+    "Activate the red and black electrical switch by pressing it",
+    "Deploy the left arm to press the metal-pronged black switch",
+    "Engage the switch for turning circuits on off using the left arm.",
+    "Interact with the toggle switch with black housing directly",
+    "Toggle the red and black electrical switch with the left arm.",
+    "Tap the toggle switch with black housing to engage it",
+    "Press the red and black electrical switch directly",
+    "Activate the switch with three metal pins directly",
+    "Engage with the tiny rectangular switch manually",
+    "Press the switch with three metal pins carefully with the left arm",
+    "Direct the left arm to operate the plastic switch with metal prongs",
+    "Approach and tap the two-tone red black switch via the left arm",
+    "Push the metal-pronged black switch via the left arm.",
+    "Set the switch at the metal-pronged black switch",
+    "Press the plastic switch with metal prongs to activate.",
+    "Use the left arm for switching the switch with three metal pins",
+    "Operate the left arm to engage the toggle switch with black housing",
+    "Deploy the left arm to operate the smooth red switch with labels",
+    "Locate and press the toggle switch with black housing",
+    "Use the left arm to engage the toggle switch with black housing",
+    "Activate the metal-pronged black switch with the left arm.",
+    "Directly interact with the switch with three metal pins",
+    "Operate the small switch with red lever with the left arm",
+    "Locate and press the rectangular switch",
+    "Press the switch for turning circuits on off using the left arm.",
+    "Click the black base switch using automated tools",
+    "Move to the switch with three metal pins and click it.",
+    "Activate the two-tone red black switch using the left arm",
+    "Activate the smooth red switch with labels with robotic precision",
+    "Engage the left arm to press the switch with three metal pins",
+    "Click the switch with three metal pins with robotic precision",
+    "Click on the rectangular switch precisely",
+    "Engage the small switch with red lever using the robotic arm",
+    "Press the small switch with red lever with the left arm",
+    "Trigger the switch with three metal pins without referencing the left arm",
+    "Click the toggle switch with black housing directly.",
+    "Press the tiny rectangular switch via automation",
+    "Trigger the switch with three metal pins with precision",
+    "Switch the small switch with red lever to its active state",
+    "Engage the metal-pronged black switch using the left arm",
+    "Click the red and black electrical switch to activate it",
+    "Initiate the plastic switch with metal prongs by clicking",
+    "Interact with the switch for turning circuits on off.",
+    "Set the left arm to press the switch for turning circuits on off",
+    "Press the toggle switch with black housing using robotic control",
+    "Engage the switch with three metal pins with a press.",
+    "Activate the switch with three metal pins via the left arm",
+    "Use the left arm to interact with the red and black electrical switch",
+    "Command the left arm to engage the metal-pronged black switch",
+    "Trigger the red and black electrical switch using the left arm",
+    "Activate the rectangular switch by pressing it",
+    "Deploy the left arm to press the small switch with red lever",
+    "Engage the plastic switch with metal prongs using the left arm.",
+    "Interact with the metal-pronged black switch directly",
+    "Toggle the tiny rectangular switch with the left arm.",
+    "Tap the toggle switch with black housing to engage it",
+    "Press the toggle switch with black housing directly",
+    "Activate the switch with three metal pins directly",
+    "Engage with the tiny rectangular switch manually",
+    "Press the two-tone red black switch carefully with the left arm",
+    "Direct the left arm to operate the tiny rectangular switch",
+    "Approach and tap the red and black electrical switch via the left arm",
+    "Push the red and black electrical switch via the left arm.",
+    "Set the switch at the red and black electrical switch",
+    "Press the plastic switch with metal prongs to activate.",
+    "Use the left arm for switching the black base switch",
+    "Operate the left arm to engage the smooth red switch with labels",
+    "Deploy the left arm to operate the two-tone red black switch",
+    "Locate and press the black base switch",
+    "Use the left arm to engage the smooth red switch with labels",
+    "Activate the red and black electrical switch with the left arm.",
+    "Directly interact with the toggle switch with black housing",
+    "Operate the toggle switch with black housing with the left arm",
+    "Locate and press the small switch with red lever",
+    "Press the tiny rectangular switch using the left arm.",
+    "Click the black base switch using automated tools",
+    "Move to the plastic switch with metal prongs and click it.",
+    "Activate the red and black electrical switch using the left arm",
+    "Activate the plastic switch with metal prongs with robotic precision",
+    "Engage the left arm to press the black base switch",
+    "Click the plastic switch with metal prongs with robotic precision",
+    "Click on the small switch with red lever precisely",
+    "Engage the two-tone red black switch using the robotic arm",
+    "Press the metal-pronged black switch with the left arm",
+    "Trigger the small switch with red lever without referencing the left arm",
+    "Click the plastic switch with metal prongs directly.",
+    "Press the metal-pronged black switch via automation",
+    "Trigger the small switch with red lever with precision",
+    "Switch the two-tone red black switch to its active state",
+    "Engage the switch for turning circuits on off using the left arm",
+    "Click the switch for turning circuits on off to activate it"
+  ]
+}
diff --git a/turn_switch/episode_0000036/TCP_head/metadata.json b/turn_switch/episode_0000036/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cff6b04fbcb5a6a6df18506e7481d5c49e78961
--- /dev/null
+++ b/turn_switch/episode_0000036/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    92,
+    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/turn_switch/episode_0000036/TCP_third/metadata.json b/turn_switch/episode_0000036/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1af69eb043266805298a57954d2a30832401a00a
--- /dev/null
+++ b/turn_switch/episode_0000036/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    92,
+    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/turn_switch/episode_0000036/metadata.json b/turn_switch/episode_0000036/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9619a599e6346abe3e271dfd27ceb0bf63f663a7
--- /dev/null
+++ b/turn_switch/episode_0000036/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "turn_switch",
+  "episode": "episode_0000036",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/turn_switch/aloha_agilex/data/episode_0000036.hdf5",
+  "num_frames": 92,
+  "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": [
+      92,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      92,
+      14
+    ],
+    "action_shape": [
+      92,
+      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 the right arm for switching the red-top black switch",
+    "Tap the black switch with metallic connectors to engage it",
+    "Deploy the right arm to operate the red and black switch",
+    "Trigger the small switch with precision",
+    "Activate the hand-sized switch with connector prongs using the right arm",
+    "Press the red-top black switch via automation",
+    "Press the compact switch with toggle on top using the right arm.",
+    "Engage the red-top black switch using the robotic arm",
+    "Move to the black switch with metallic connectors and click it.",
+    "Set the switch at the plastic switch with metal terminals",
+    "Direct the right arm to operate the plastic switch with metal terminals",
+    "Press the red-top black switch to activate.",
+    "Engage with the switch with curved red toggle manually",
+    "Switch the small switch to its active state",
+    "Activate the compact switch with toggle on top via the right arm",
+    "Press the black switch with metallic connectors using robotic control",
+    "Directly interact with the hand-sized switch with connector prongs",
+    "Engage the right arm to press the hand-sized switch with connector prongs",
+    "Activate the rectangular black plastic switch directly",
+    "Engage the compact switch with toggle on top with a press.",
+    "Interact with the red and black switch.",
+    "Activate the red and black switch with robotic precision",
+    "Click on the small switch precisely",
+    "Click the plastic switch with metal terminals directly.",
+    "Engage the small switch using the right arm",
+    "Locate and press the black base switch with red toggle",
+    "Activate the small switch by pressing it",
+    "Click the hand-sized switch with connector prongs using automated tools",
+    "Trigger the red-top black switch using the right arm",
+    "Approach and tap the switch with curved red toggle via the right arm",
+    "Locate and press the black switch with metallic connectors",
+    "Press the switch with curved red toggle with the right arm",
+    "Activate the rectangular switch with curved lever with the right arm.",
+    "Deploy the right arm to press the switch with curved red toggle",
+    "Use the right arm to interact with the plastic switch with metal terminals",
+    "Use the right arm to engage the black base switch with red toggle",
+    "Initiate the plastic switch with metal terminals by clicking",
+    "Click the red-top black switch with robotic precision",
+    "Trigger the rectangular black plastic switch without referencing the right arm",
+    "Command the right arm to engage the plastic switch with metal terminals",
+    "Press the red-top black switch carefully with the right arm",
+    "Push the plastic switch with metal terminals via the right arm.",
+    "Set the right arm to press the red-top black switch",
+    "Engage the black switch with metallic connectors using the right arm.",
+    "Operate the right arm to engage the red-top black switch",
+    "Click the plastic switch with metal terminals to activate it",
+    "Interact with the small switch directly",
+    "Press the black switch with metallic connectors directly",
+    "Operate the red and black switch with the right arm",
+    "Toggle the black base switch with red toggle with the right arm.",
+    "Use the right arm for switching the small switch",
+    "Tap the switch with curved red toggle to engage it",
+    "Deploy the right arm to operate the switch with curved red toggle",
+    "Trigger the rectangular switch with curved lever with precision",
+    "Activate the black base switch with red toggle using the right arm",
+    "Press the hand-sized switch with connector prongs via automation",
+    "Press the red-top black switch using the right arm.",
+    "Engage the switch with curved red toggle using the robotic arm",
+    "Move to the rectangular black plastic switch and click it.",
+    "Set the switch at the rectangular black plastic switch",
+    "Direct the right arm to operate the red-top black switch",
+    "Press the black switch with metallic connectors to activate.",
+    "Engage with the black switch manually",
+    "Switch the red-top black switch to its active state",
+    "Activate the compact switch with toggle on top via the right arm",
+    "Press the rectangular switch with curved lever using robotic control",
+    "Directly interact with the black base switch with red toggle",
+    "Engage the right arm to press the switch with curved red toggle",
+    "Activate the compact switch with toggle on top directly",
+    "Engage the small switch with a press.",
+    "Interact with the red and black switch.",
+    "Activate the compact switch with toggle on top with robotic precision",
+    "Click on the red and black switch precisely",
+    "Click the plastic switch with metal terminals directly.",
+    "Engage the small switch using the right arm",
+    "Locate and press the red and black switch",
+    "Activate the black switch with metallic connectors by pressing it",
+    "Click the hand-sized switch with connector prongs using automated tools",
+    "Trigger the small switch using the right arm",
+    "Approach and tap the compact switch with toggle on top via the right arm",
+    "Locate and press the rectangular switch with curved lever",
+    "Press the black base switch with red toggle with the right arm",
+    "Activate the switch with curved red toggle with the right arm.",
+    "Deploy the right arm to press the switch with curved red toggle",
+    "Use the right arm to interact with the hand-sized switch with connector prongs",
+    "Use the right arm to engage the black base switch with red toggle",
+    "Initiate the compact switch with toggle on top by clicking",
+    "Click the rectangular switch with curved lever with robotic precision",
+    "Trigger the rectangular switch with curved lever without referencing the right arm",
+    "Command the right arm to engage the black switch",
+    "Press the hand-sized switch with connector prongs carefully with the right arm",
+    "Push the small switch via the right arm.",
+    "Set the right arm to press the rectangular black plastic switch",
+    "Engage the small switch using the right arm.",
+    "Operate the right arm to engage the rectangular switch with curved lever",
+    "Click the black switch with metallic connectors to activate it",
+    "Interact with the hand-sized switch with connector prongs directly",
+    "Press the red and black switch directly",
+    "Operate the black base switch with red toggle with the right arm",
+    "Toggle the compact switch with toggle on top with the right arm."
+  ]
+}