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diff --git a/pick_dual_bottles/episode_0000022/TCP_head/metadata.json b/pick_dual_bottles/episode_0000022/TCP_head/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    132,
+    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/pick_dual_bottles/episode_0000022/TCP_third/metadata.json b/pick_dual_bottles/episode_0000022/TCP_third/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    132,
+    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/pick_dual_bottles/episode_0000022/metadata.json b/pick_dual_bottles/episode_0000022/metadata.json
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--- /dev/null
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "pick_dual_bottles",
+  "episode": "episode_0000022",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/pick_dual_bottles/aloha_agilex/data/episode_0000022.hdf5",
+  "num_frames": 132,
+  "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": [
+      132,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      132,
+      14
+    ],
+    "action_shape": [
+      132,
+      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": [
+    "Each arm should lift one bottle: the brown bottle with red label and the bottle with white printed label.",
+    "Raise the plastic drink bottle and the bottle with ridges near base at the same time.",
+    "Use one arm for the dark drink bottle with logo and the other for the plastic bottle.",
+    "Lift the two bottles the hand-sized soda bottle and the bottle with rounded neck together.",
+    "Use separate arms to grasp the plastic drink bottle and the medium-sized green bottle simultaneously.",
+    "Hold both the brown bottle with red label and the bottle with rounded neck, one in each arm.",
+    "Pick up the medium dark brown bottle and the bottle with narrow top simultaneously.",
+    "Raise both the bottle with ridges on bottom and the bottle with ridges near base simultaneously.",
+    "Grasp the bottle with ridges on bottom and the smooth green plastic bottle at the same time.",
+    "Take hold of the dark drink bottle with logo and the bottle with rounded neck at once.",
+    "Secure the red-capped bottle and the bottle with rounded neck simultaneously with separate arms.",
+    "Lift the medium dark brown bottle with one arm and the bottle with ridges near base with the other.",
+    "Simultaneously grasp and lift the medium dark brown bottle and the smooth green bottle.",
+    "Pick up the smooth bottle with red lid and the green bottle with indented base in one synchronized motion.",
+    "Take the long thin bottle and the handheld green bottle together, one per arm.",
+    "Catch the bottle with ridges on bottom and the green bottle with indented base in parallel.",
+    "Lift the Coca-Cola bottle and the smooth green plastic bottle together with both arms.",
+    "Use each arm to secure one bottle, the smooth bottle with red lid and the medium green bottle.",
+    "Use both arms together to pick the hand-sized soda bottle and the bottle with rounded neck.",
+    "Hold the red-capped bottle in one arm and the smooth green bottle in the other.",
+    "Grab both bottles at once: the long thin bottle and the medium green bottle.",
+    "Use both arms to lift the smooth bottle with red lid and the medium green bottle with capped neck together.",
+    "Reach for the red-capped bottle and the plastic bottle with both arms simultaneously.",
+    "Grasp both bottles, the plastic drink bottle and the bottle with ridges near base, simultaneously.",
+    "Pick up both the bottle with ridges on bottom and the medium green bottle using separate arms.",
+    "Grab the brown bottle with red label and the smooth green bottle together.",
+    "Use each arm to grab one of the red-capped bottle and the medium green bottle with capped neck.",
+    "Pick the hand-sized soda bottle and the medium green bottle up in parallel.",
+    "Pick the dark drink bottle with logo as the other arm picks the smooth green bottle.",
+    "Raise both bottles together, the smooth bottle with red lid and the green bottle with indented base.",
+    "Each arm should lift one bottle: the medium dark brown bottle and the smooth green bottle.",
+    "Raise the hand-sized soda bottle and the handheld green bottle at the same time.",
+    "Use one arm for the red-capped bottle and the other for the smooth green plastic bottle.",
+    "Lift the two bottles the narrow-necked bottle and the bottle with white printed label together.",
+    "Use separate arms to grasp the bottle with ridges on bottom and the medium green bottle simultaneously.",
+    "Hold both the dark drink bottle with logo and the green bottle with indented base, one in each arm.",
+    "Pick up the dark drink bottle with logo and the smooth green plastic bottle simultaneously.",
+    "Raise both the red-capped bottle and the bottle with narrow top simultaneously.",
+    "Grasp the smooth bottle with red lid and the handheld green bottle at the same time.",
+    "Take hold of the hand-sized soda bottle and the medium green bottle at once.",
+    "Secure the bottle with white neck and red top and the bottle with ridges near base simultaneously with separate arms.",
+    "Lift the long thin bottle with one arm and the medium green bottle with capped neck with the other.",
+    "Simultaneously grasp and lift the dark drink bottle with logo and the bottle with rounded neck.",
+    "Pick up the red-capped bottle and the medium green bottle in one synchronized motion.",
+    "Take the hand-sized soda bottle and the bottle with white printed label together, one per arm.",
+    "Catch the narrow-necked bottle and the medium-sized green bottle in parallel.",
+    "Lift the red-capped bottle and the bottle with rounded neck together with both arms.",
+    "Use each arm to secure one bottle, the hand-sized soda bottle and the smooth green plastic bottle.",
+    "Use both arms together to pick the bottle with white neck and red top and the plastic bottle.",
+    "Hold the plastic drink bottle in one arm and the bottle with ridges near base in the other.",
+    "Grab both bottles at once: the hand-sized soda bottle and the medium-sized green bottle.",
+    "Use both arms to lift the dark drink bottle with logo and the medium green bottle together.",
+    "Reach for the Coca-Cola bottle and the bottle with narrow top with both arms simultaneously.",
+    "Grasp both bottles, the narrow-necked bottle and the medium-sized green bottle, simultaneously.",
+    "Pick up both the long thin bottle and the medium green bottle using separate arms.",
+    "Grab the long thin bottle and the medium green bottle together.",
+    "Use each arm to grab one of the narrow-necked bottle and the bottle with white printed label.",
+    "Pick the red-capped bottle and the medium green bottle up in parallel.",
+    "Pick the brown bottle with red label as the other arm picks the medium green bottle.",
+    "Raise both bottles together, the hand-sized soda bottle and the plastic bottle.",
+    "Each arm should lift one bottle: the bottle with ridges on bottom and the smooth green bottle.",
+    "Raise the narrow-necked bottle and the smooth green plastic bottle at the same time.",
+    "Use one arm for the bottle with ridges on bottom and the other for the green bottle with indented base.",
+    "Lift the two bottles the plastic drink bottle and the medium green bottle with capped neck together.",
+    "Use separate arms to grasp the long thin bottle and the medium green bottle simultaneously.",
+    "Hold both the long thin bottle and the bottle with narrow top, one in each arm.",
+    "Pick up the bottle with ridges on bottom and the smooth green plastic bottle simultaneously.",
+    "Raise both the bottle with ridges on bottom and the green bottle with indented base simultaneously.",
+    "Grasp the brown bottle with red label and the bottle with rounded neck at the same time.",
+    "Take hold of the bottle with white neck and red top and the medium green bottle with capped neck at once.",
+    "Secure the Coca-Cola bottle and the bottle with white printed label simultaneously with separate arms.",
+    "Lift the medium dark brown bottle with one arm and the bottle with narrow top with the other.",
+    "Simultaneously grasp and lift the Coca-Cola bottle and the bottle with white printed label.",
+    "Pick up the hand-sized soda bottle and the medium green bottle in one synchronized motion.",
+    "Take the hand-sized soda bottle and the plastic bottle together, one per arm.",
+    "Catch the bottle with white neck and red top and the handheld green bottle in parallel.",
+    "Lift the Coca-Cola bottle and the medium-sized green bottle together with both arms.",
+    "Use each arm to secure one bottle, the smooth bottle with red lid and the bottle with white printed label.",
+    "Use both arms together to pick the bottle with white neck and red top and the green bottle with indented base.",
+    "Hold the smooth bottle with red lid in one arm and the bottle with narrow top in the other.",
+    "Grab both bottles at once: the plastic drink bottle and the smooth green bottle.",
+    "Use both arms to lift the dark drink bottle with logo and the smooth green plastic bottle together.",
+    "Reach for the medium dark brown bottle and the bottle with white printed label with both arms simultaneously.",
+    "Grasp both bottles, the medium dark brown bottle and the smooth green bottle, simultaneously.",
+    "Pick up both the long thin bottle and the bottle with white printed label using separate arms.",
+    "Grab the dark drink bottle with logo and the handheld green bottle together.",
+    "Use each arm to grab one of the long thin bottle and the plastic bottle.",
+    "Pick the narrow-necked bottle and the handheld green bottle up in parallel.",
+    "Pick the red-capped bottle as the other arm picks the smooth green plastic bottle.",
+    "Raise both bottles together, the hand-sized soda bottle and the handheld green bottle.",
+    "Each arm should lift one bottle: the medium dark brown bottle and the bottle with ridges near base.",
+    "Raise the hand-sized soda bottle and the bottle with rounded neck at the same time.",
+    "Use one arm for the Coca-Cola bottle and the other for the smooth green plastic bottle.",
+    "Lift the two bottles the bottle with white neck and red top and the bottle with narrow top together.",
+    "Use separate arms to grasp the red-capped bottle and the medium green bottle simultaneously.",
+    "Hold both the Coca-Cola bottle and the bottle with white printed label, one in each arm.",
+    "Pick up the medium dark brown bottle and the bottle with ridges near base simultaneously.",
+    "Raise both the smooth bottle with red lid and the plastic bottle simultaneously.",
+    "Grasp the red-capped bottle and the smooth green plastic bottle at the same time.",
+    "Take hold of the narrow-necked bottle and the medium green bottle at once."
+  ]
+}
diff --git a/pick_dual_bottles/episode_0000023/TCP_head/metadata.json b/pick_dual_bottles/episode_0000023/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e44885fead582cb836f6fa65770978250ee98276
--- /dev/null
+++ b/pick_dual_bottles/episode_0000023/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    135,
+    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/pick_dual_bottles/episode_0000023/metadata.json b/pick_dual_bottles/episode_0000023/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..899e1a0cc3d4cb13e3cd1020d872b0c9f7c158a5
--- /dev/null
+++ b/pick_dual_bottles/episode_0000023/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "pick_dual_bottles",
+  "episode": "episode_0000023",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/pick_dual_bottles/aloha_agilex/data/episode_0000023.hdf5",
+  "num_frames": 135,
+  "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": [
+      135,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      135,
+      14
+    ],
+    "action_shape": [
+      135,
+      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 medium dark brown bottle as the other arm picks the plastic bottle.",
+    "Hold the red-capped bottle in one arm and the handheld green bottle in the other.",
+    "Grab both bottles at once: the bottle with ridges on bottom and the smooth green bottle.",
+    "Raise the smooth bottle with red lid and the bottle with white printed label at the same time.",
+    "Take the hand-sized soda bottle and the handheld green bottle together, one per arm.",
+    "Grasp the bottle with ridges on bottom and the bottle with narrow top at the same time.",
+    "Use both arms to lift the hand-sized soda bottle and the plastic bottle together.",
+    "Take hold of the hand-sized soda bottle and the smooth green bottle at once.",
+    "Pick up both the red-capped bottle and the bottle with narrow top using separate arms.",
+    "Each arm should lift one bottle: the hand-sized soda bottle and the bottle with ridges near base.",
+    "Simultaneously grasp and lift the narrow-necked bottle and the bottle with ridges near base.",
+    "Use each arm to grab one of the dark drink bottle with logo and the smooth green plastic bottle.",
+    "Pick up the brown bottle with red label and the medium green bottle in one synchronized motion.",
+    "Raise both bottles together, the dark drink bottle with logo and the medium-sized green bottle.",
+    "Grab the smooth bottle with red lid and the green bottle with indented base together.",
+    "Lift the plastic drink bottle with one arm and the medium green bottle with capped neck with the other.",
+    "Use one arm for the narrow-necked bottle and the other for the smooth green bottle.",
+    "Hold both the plastic drink bottle and the medium green bottle with capped neck, one in each arm.",
+    "Grasp both bottles, the plastic drink bottle and the medium green bottle with capped neck, simultaneously.",
+    "Lift the hand-sized soda bottle and the bottle with white printed label together with both arms.",
+    "Catch the medium dark brown bottle and the green bottle with indented base in parallel.",
+    "Use both arms together to pick the smooth bottle with red lid and the bottle with narrow top.",
+    "Use separate arms to grasp the smooth bottle with red lid and the medium green bottle with capped neck simultaneously.",
+    "Raise both the dark drink bottle with logo and the smooth green plastic bottle simultaneously.",
+    "Pick the Coca-Cola bottle and the bottle with white printed label up in parallel.",
+    "Secure the narrow-necked bottle and the medium green bottle with capped neck simultaneously with separate arms.",
+    "Lift the two bottles the long thin bottle and the bottle with narrow top together.",
+    "Reach for the long thin bottle and the handheld green bottle with both arms simultaneously.",
+    "Use each arm to secure one bottle, the brown bottle with red label and the green bottle with indented base.",
+    "Pick up the bottle with ridges on bottom and the smooth green bottle simultaneously.",
+    "Pick the hand-sized soda bottle as the other arm picks the plastic bottle.",
+    "Hold the bottle with white neck and red top in one arm and the bottle with white printed label in the other.",
+    "Grab both bottles at once: the medium dark brown bottle and the medium-sized green bottle.",
+    "Raise the smooth bottle with red lid and the handheld green bottle at the same time.",
+    "Take the red-capped bottle and the green bottle with indented base together, one per arm.",
+    "Grasp the medium dark brown bottle and the medium green bottle at the same time.",
+    "Use both arms to lift the bottle with white neck and red top and the medium-sized green bottle together.",
+    "Take hold of the Coca-Cola bottle and the bottle with rounded neck at once.",
+    "Pick up both the smooth bottle with red lid and the bottle with narrow top using separate arms.",
+    "Each arm should lift one bottle: the smooth bottle with red lid and the handheld green bottle.",
+    "Simultaneously grasp and lift the red-capped bottle and the medium green bottle with capped neck.",
+    "Use each arm to grab one of the hand-sized soda bottle and the medium-sized green bottle.",
+    "Pick up the long thin bottle and the medium-sized green bottle in one synchronized motion.",
+    "Raise both bottles together, the hand-sized soda bottle and the medium green bottle.",
+    "Grab the narrow-necked bottle and the smooth green plastic bottle together.",
+    "Lift the plastic drink bottle with one arm and the handheld green bottle with the other.",
+    "Use one arm for the plastic drink bottle and the other for the smooth green bottle.",
+    "Hold both the long thin bottle and the bottle with white printed label, one in each arm.",
+    "Grasp both bottles, the bottle with white neck and red top and the handheld green bottle, simultaneously.",
+    "Lift the narrow-necked bottle and the bottle with rounded neck together with both arms.",
+    "Catch the Coca-Cola bottle and the plastic bottle in parallel.",
+    "Use both arms together to pick the brown bottle with red label and the medium-sized green bottle.",
+    "Use separate arms to grasp the hand-sized soda bottle and the bottle with ridges near base simultaneously.",
+    "Raise both the plastic drink bottle and the bottle with white printed label simultaneously.",
+    "Pick the Coca-Cola bottle and the medium green bottle with capped neck up in parallel.",
+    "Secure the bottle with white neck and red top and the bottle with white printed label simultaneously with separate arms.",
+    "Lift the two bottles the bottle with ridges on bottom and the smooth green bottle together.",
+    "Reach for the medium dark brown bottle and the medium green bottle with capped neck with both arms simultaneously.",
+    "Use each arm to secure one bottle, the smooth bottle with red lid and the medium green bottle.",
+    "Pick up the long thin bottle and the smooth green bottle simultaneously.",
+    "Pick the bottle with white neck and red top as the other arm picks the medium green bottle with capped neck.",
+    "Hold the medium dark brown bottle in one arm and the smooth green bottle in the other.",
+    "Grab both bottles at once: the medium dark brown bottle and the bottle with rounded neck.",
+    "Raise the smooth bottle with red lid and the smooth green bottle at the same time.",
+    "Take the red-capped bottle and the bottle with rounded neck together, one per arm.",
+    "Grasp the bottle with ridges on bottom and the smooth green plastic bottle at the same time.",
+    "Use both arms to lift the hand-sized soda bottle and the medium-sized green bottle together.",
+    "Take hold of the bottle with ridges on bottom and the green bottle with indented base at once.",
+    "Pick up both the red-capped bottle and the medium-sized green bottle using separate arms.",
+    "Each arm should lift one bottle: the red-capped bottle and the smooth green bottle.",
+    "Simultaneously grasp and lift the red-capped bottle and the bottle with white printed label.",
+    "Use each arm to grab one of the brown bottle with red label and the medium green bottle with capped neck.",
+    "Pick up the narrow-necked bottle and the medium-sized green bottle in one synchronized motion.",
+    "Raise both bottles together, the brown bottle with red label and the handheld green bottle.",
+    "Grab the Coca-Cola bottle and the medium-sized green bottle together.",
+    "Lift the hand-sized soda bottle with one arm and the medium green bottle with the other.",
+    "Use one arm for the plastic drink bottle and the other for the medium green bottle.",
+    "Hold both the bottle with white neck and red top and the bottle with white printed label, one in each arm.",
+    "Grasp both bottles, the brown bottle with red label and the plastic bottle, simultaneously.",
+    "Lift the red-capped bottle and the handheld green bottle together with both arms.",
+    "Catch the Coca-Cola bottle and the green bottle with indented base in parallel.",
+    "Use both arms together to pick the Coca-Cola bottle and the bottle with narrow top.",
+    "Use separate arms to grasp the medium dark brown bottle and the medium green bottle with capped neck simultaneously.",
+    "Raise both the dark drink bottle with logo and the medium green bottle simultaneously.",
+    "Pick the plastic drink bottle and the bottle with narrow top up in parallel.",
+    "Secure the medium dark brown bottle and the medium green bottle simultaneously with separate arms.",
+    "Lift the two bottles the dark drink bottle with logo and the medium-sized green bottle together.",
+    "Reach for the medium dark brown bottle and the bottle with narrow top with both arms simultaneously.",
+    "Use each arm to secure one bottle, the long thin bottle and the medium green bottle.",
+    "Pick up the Coca-Cola bottle and the plastic bottle simultaneously.",
+    "Pick the dark drink bottle with logo as the other arm picks the plastic bottle.",
+    "Hold the long thin bottle in one arm and the smooth green bottle in the other.",
+    "Grab both bottles at once: the red-capped bottle and the bottle with white printed label.",
+    "Raise the smooth bottle with red lid and the bottle with narrow top at the same time.",
+    "Take the medium dark brown bottle and the green bottle with indented base together, one per arm.",
+    "Grasp the long thin bottle and the medium-sized green bottle at the same time.",
+    "Use both arms to lift the hand-sized soda bottle and the handheld green bottle together.",
+    "Take hold of the bottle with ridges on bottom and the medium-sized green bottle at once.",
+    "Pick up both the bottle with ridges on bottom and the plastic bottle using separate arms.",
+    "Each arm should lift one bottle: the red-capped bottle and the bottle with narrow top."
+  ]
+}
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diff --git a/place_can_basket/episode_0000033/TCP_head/metadata.json b/place_can_basket/episode_0000033/TCP_head/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    263,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_can_basket/episode_0000033/TCP_third/metadata.json b/place_can_basket/episode_0000033/TCP_third/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    263,
+    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_version": "robotwin_4d_v1",
+  "task": "place_can_basket",
+  "episode": "episode_0000033",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_can_basket/aloha_agilex/data/episode_0000033.hdf5",
+  "num_frames": 263,
+  "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": [
+      263,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      263,
+      14
+    ],
+    "action_shape": [
+      263,
+      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 to place the metal can with pull-tab top in the brown basket; another arm lifts the brown basket.",
+    "Grab the drink can with bright colors, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.",
+    "Pick up the smooth cylindrical can with lime pattern, put it into the basket with loop handle, and lift the basket with loop handle.",
+    "Pick the soda can with lime illustration with the right arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Pick up the soda can with lime illustration, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Pick up the soda can with lime illustration, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Pick the soda can with lime illustration using the right arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Use the right arm to put the can with red green label in the basket with handle; the other arm lifts the basket with handle.",
+    "Use the right arm to set the metal can with pull-tab top in the brown basket with woven ridges; another arm lifts the brown basket with woven ridges.",
+    "Place the small soda can with lime graphics in the basket made of woven wood and then lift the basket made of woven wood.",
+    "Take the small soda can with lime graphics with the right arm, drop it into the woven basket, and lift the woven basket using another arm.",
+    "Grab the green red metallic soda can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Lift the green red metallic soda can, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.",
+    "Use the right arm to insert the drink can with bright colors in the basket with loop handle; the other arm lifts the basket with loop handle.",
+    "Use the right arm to grab the smooth cylindrical can with lime pattern, put it into the basket for carrying things, and lift the basket for carrying things with another arm.",
+    "Take the red green can, set it into the basket for carrying things, and raise the basket for carrying things.",
+    "Pick the colorful can with lime and orange design with one arm, place it in the woven basket, and lift the woven basket using another arm.",
+    "Grab the metal can with pull-tab top, put it in the basket for holding items, then raise the basket for holding items.",
+    "Take the colorful can with lime and orange design and put it in the light brown oval basket, then lift the light brown oval basket.",
+    "Use the right arm to place the can with red green label in the basket for holding items; the other arm lifts the basket for holding items.",
+    "Pick up the green red metallic soda can, set it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Use the right arm to lower the green red metallic soda can into the wooden basket with curved handle; the other arm lifts the wooden basket with curved handle.",
+    "Use the right arm to drop the red green can in the basket made of woven wood; the other arm lifts the basket made of woven wood.",
+    "Lift the metallic drink can with pull-tab, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Lift the metal can with pull-tab top, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.",
+    "Take the beverage can with red green graphics in the right arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.",
+    "Pick the beverage can with red green graphics, set it in the brown basket, then lift the brown basket.",
+    "Drop the metallic drink can with pull-tab into the wooden basket with curved handle using the right arm, then lift the wooden basket with curved handle with another arm.",
+    "Pick up the can with red green label, put it in the basket with loop handle, and lift the basket with loop handle.",
+    "Grab the metal can with pull-tab top, place it in the brown basket, and lift the brown basket upwards.",
+    "Lift the red green beverage can, drop it into the basket with loop handle, then carry the basket with loop handle.",
+    "Take the beverage can with red green graphics, place it into the light brown oval basket, then lift the light brown oval basket.",
+    "Pick the red green beverage can, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.",
+    "Place the smooth cylindrical can with lime pattern inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Use the right arm to put the smooth cylindrical can with lime pattern in the smooth ribbed light brown basket; the other arm raises the smooth ribbed light brown basket.",
+    "Grab the red green can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.",
+    "Use the right arm to grab the smooth cylindrical can with lime pattern and place in the basket with handle, lift the basket with handle with another arm.",
+    "Use one arm for the metal can with pull-tab top, then the other arm lifts the basket with loop handle.",
+    "Pick up the red green beverage can with the right arm, place into the basket for holding items, the other arm raises the basket for holding items.",
+    "Grab and drop the smooth cylindrical can with lime pattern in the basket with handle, lift the basket with handle.",
+    "Lift the drink can with bright colors, place it inside the woven basket, and elevate the woven basket.",
+    "Grab the metallic drink can with pull-tab, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.",
+    "Pick the red green beverage can with the right arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Lift the green red metallic soda can, place it in the woven basket, and raise the woven basket.",
+    "Use the right arm to put the colorful can with lime and orange design in the brown basket; another arm lifts the brown basket.",
+    "Grab the small soda can with lime graphics, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Grab the smooth cylindrical can with lime pattern, set it into the basket for holding items, then raise the basket for holding items.",
+    "Place the green red metallic soda can in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.",
+    "Use the right arm to set the beverage can with red green graphics in the light brown oval basket; the other arm lifts the light brown oval basket.",
+    "Grab the red green beverage can with the right arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Use the right arm to place the red green beverage can in the basket made of woven wood; another arm lifts the basket made of woven wood.",
+    "Grab the metallic drink can with pull-tab, drop it into the woven basket, then use another arm for the woven basket.",
+    "Pick up the beverage can with red green graphics, put it into the basket with handle, and lift the basket with handle.",
+    "Pick the red green can with the right arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Pick up the metallic drink can with pull-tab, place it into the basket for holding items, then lift the basket for holding items.",
+    "Pick up the beverage can with red green graphics, place it in the brown basket, and then lift the brown basket.",
+    "Pick the metallic drink can with pull-tab using the right arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.",
+    "Use the right arm to put the metal can with pull-tab top in the wooden basket with curved handle; the other arm lifts the wooden basket with curved handle.",
+    "Use the right arm to set the small soda can with lime graphics in the brown basket; another arm lifts the brown basket.",
+    "Place the red green beverage can in the basket with handle and then lift the basket with handle.",
+    "Take the metal can with pull-tab top with the right arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Grab the red green can, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Lift the beverage can with red green graphics, put it in the woven basket, and carry the woven basket afterward.",
+    "Use the right arm to insert the can with red green label in the wooden basket with curved handle; the other arm lifts the wooden basket with curved handle.",
+    "Use the right arm to grab the red green beverage can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.",
+    "Take the smooth cylindrical can with lime pattern, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.",
+    "Pick the soda can with lime illustration with one arm, place it in the basket with handle, and lift the basket with handle using another arm.",
+    "Grab the green red metallic soda can, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.",
+    "Take the smooth cylindrical can with lime pattern and put it in the woven basket, then lift the woven basket.",
+    "Use the right arm to place the metallic drink can with pull-tab in the basket for carrying things; the other arm lifts the basket for carrying things.",
+    "Pick up the soda can with lime illustration, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Use the right arm to lower the green red metallic soda can into the basket for carrying things; the other arm lifts the basket for carrying things.",
+    "Use the right arm to drop the metallic drink can with pull-tab in the basket for carrying things; the other arm lifts the basket for carrying things.",
+    "Lift the metal can with pull-tab top, set it in the basket with loop handle, and elevate the basket with loop handle.",
+    "Lift the small soda can with lime graphics, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.",
+    "Take the colorful can with lime and orange design in the right arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.",
+    "Pick the small soda can with lime graphics, set it in the light brown oval basket, then lift the light brown oval basket.",
+    "Drop the beverage can with red green graphics into the wooden basket with curved handle using the right arm, then lift the wooden basket with curved handle with another arm.",
+    "Pick up the drink can with bright colors, put it in the light brown oval basket, and lift the light brown oval basket.",
+    "Grab the soda can with lime illustration, place it in the light brown oval basket, and lift the light brown oval basket upwards.",
+    "Lift the can with red green label, drop it into the basket with loop handle, then carry the basket with loop handle.",
+    "Take the red green beverage can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick the red green can, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.",
+    "Place the metal can with pull-tab top inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Use the right arm to put the soda can with lime illustration in the basket with loop handle; the other arm raises the basket with loop handle.",
+    "Grab the green red metallic soda can, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.",
+    "Use the right arm to grab the can with red green label and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Use one arm for the metallic drink can with pull-tab, then the other arm lifts the light brown oval basket.",
+    "Pick up the metallic drink can with pull-tab with the right arm, place into the light brown oval basket, the other arm raises the light brown oval basket.",
+    "Grab and drop the red green can in the brown basket with woven ridges, lift the brown basket with woven ridges.",
+    "Lift the metallic drink can with pull-tab, place it inside the basket with loop handle, and elevate the basket with loop handle.",
+    "Grab the colorful can with lime and orange design, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.",
+    "Pick the metal can with pull-tab top with the right arm, set it in the basket with handle, and lift the basket with handle using another arm.",
+    "Lift the beverage can with red green graphics, place it in the basket for holding items, and raise the basket for holding items.",
+    "Use the right arm to put the can with red green label in the basket for carrying things; another arm lifts the basket for carrying things.",
+    "Grab the metallic drink can with pull-tab, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Grab the metallic drink can with pull-tab, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Place the green red metallic soda can in the brown basket and then use another arm to lift the brown basket.",
+    "Use the right arm to set the metal can with pull-tab top in the woven basket; the other arm lifts the woven basket.",
+    "Grab the drink can with bright colors with the right arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm."
+  ]
+}
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+  },
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+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      499,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      499,
+      14
+    ],
+    "action_shape": [
+      499,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Place the bowls the ceramic bowl in a stacking order.",
+    "Hold the blue bowl, place them one after another.",
+    "Start with one the ceramic bowl with earthy brown trim, and stack the other two on top.",
+    "Arrange all three the bowl with shiny texture into a vertical stack.",
+    "Stack all three the dark inside bowl light blue outside by placing one on top of another.",
+    "Place each the ceramic bowl with earthy brown trim on top of the previous one.",
+    "Stack all three the dark inside bowl light blue outside directly on top of each other.",
+    "Align the second the medium-sized bowl for holding food atop the first, then add the third above.",
+    "Align bowls the dark inside bowl light blue outside in descending size, forming a stack.",
+    "Arrange the small bowl with brown edge with the largest bowl at the base.",
+    "Place three the medium-sized bowl for holding food on top of each other.",
+    "Grab the first the blue bowl with slightly rounded base, position the second, then add the third.",
+    "Place the bottom the curved bowl light blue shade, then add the other two on top.",
+    "Use arms to place each the bowl with brown outer rim atop the previous one.",
+    "Use arms to stack each the rounded bowl with light blue color carefully.",
+    "Place the first the glazed bowl with curved sides, then align the others on top using the arm.",
+    "Arrange the three the dark inside bowl light blue outside by stacking them one over the other.",
+    "Grab the curved bowl light blue shade, stack from largest at the base to the smallest.",
+    "Stack the bowl with brown outer rim without arms in a vertical sequence.",
+    "Align and stack the ceramic bowl step by step using arms.",
+    "Position the first the blue bowl with slightly rounded base, and sequentially add the two above it.",
+    "Place the bowl with shiny texture in a stack with the largest at the foundation.",
+    "Stack the bowl with brown outer rim by arranging them sequentially.",
+    "Position the second the medium-sized bowl for holding food over the first, then the third on top.",
+    "Sequentially stack the glazed bowl with curved sides using arms to align them.",
+    "Organize bowls the ceramic bowl by stacking them in size order.",
+    "Start with the first the ceramic bowl with earthy brown trim, adding the next two in sequence.",
+    "Pick up each the dark inside bowl light blue outside and set them one over another.",
+    "Lift each the blue bowl and stack them together neatly.",
+    "Place one the ceramic bowl down and carefully stack the others above it.",
+    "Stack the dark inside bowl light blue outside, starting with the largest bowl at the bottom.",
+    "Stack all the ceramic bowl with earthy brown trim sequentially while handling one at a time.",
+    "Stack the rounded bowl with light blue color from the base up to the top.",
+    "Use the arm to stack the blue bowl with slightly rounded base one by one.",
+    "Form a tower with bowls the medium-sized bowl for holding food, placing smallest last.",
+    "Take each the rounded bowl with light blue color and place them one by one on top.",
+    "Arrange the glazed bowl with curved sides one on top of another.",
+    "Position the glazed bowl with curved sides one on top of the other largest to smallest.",
+    "Pick up the blue bowl and stack them from biggest to smallest.",
+    "Place the first the blue bowl with slightly rounded base down, then stack the remaining two.",
+    "Grab the bowl with shiny texture, arrange them vertically.",
+    "Carefully stack the dark inside bowl light blue outside piece by piece.",
+    "Place the first the blue bowl with slightly rounded base down, then stack the next two above it.",
+    "Take the bottom the bowl with shiny texture and sequentially pile the other two above.",
+    "Start with the bottom the curved bowl light blue shade and finish stacking.",
+    "Lift each the glazed bowl with curved sides and stack it over the previous one.",
+    "Stack the rounded bowl with light blue color sequentially using your arms.",
+    "Take the ceramic bowl with earthy brown trim, stack them from bottom to top.",
+    "Pick each the dark inside bowl light blue outside and stack them in order one on top of another.",
+    "Grab a the bowl with brown outer rim, set it down, and stack the rest on it.",
+    "Place the bowls the blue bowl with slightly rounded base in a stacking order.",
+    "Hold the bowl with brown outer rim, place them one after another.",
+    "Start with one the bowl with brown outer rim, and stack the other two on top.",
+    "Arrange all three the bowl with brown outer rim into a vertical stack.",
+    "Stack all three the ceramic bowl by placing one on top of another.",
+    "Place each the rounded bowl with light blue color on top of the previous one.",
+    "Stack all three the small bowl with brown edge directly on top of each other.",
+    "Align the second the rounded bowl with light blue color atop the first, then add the third above.",
+    "Align bowls the bowl with shiny texture in descending size, forming a stack.",
+    "Arrange the small bowl with brown edge with the largest bowl at the base.",
+    "Place three the medium-sized bowl for holding food on top of each other.",
+    "Grab the first the bowl with brown outer rim, position the second, then add the third.",
+    "Place the bottom the glazed bowl with curved sides, then add the other two on top.",
+    "Use arms to place each the blue bowl atop the previous one.",
+    "Use arms to stack each the curved bowl light blue shade carefully.",
+    "Place the first the curved bowl light blue shade, then align the others on top using the arm.",
+    "Arrange the three the glazed bowl with curved sides by stacking them one over the other.",
+    "Grab the blue bowl with slightly rounded base, stack from largest at the base to the smallest.",
+    "Stack the medium-sized bowl for holding food without arms in a vertical sequence.",
+    "Align and stack the ceramic bowl with earthy brown trim step by step using arms.",
+    "Position the first the curved bowl light blue shade, and sequentially add the two above it.",
+    "Place the curved bowl light blue shade in a stack with the largest at the foundation.",
+    "Stack the ceramic bowl by arranging them sequentially.",
+    "Position the second the bowl with shiny texture over the first, then the third on top.",
+    "Sequentially stack the blue bowl using arms to align them.",
+    "Organize bowls the small bowl with brown edge by stacking them in size order.",
+    "Start with the first the glazed bowl with curved sides, adding the next two in sequence.",
+    "Pick up each the medium-sized bowl for holding food and set them one over another.",
+    "Lift each the bowl with shiny texture and stack them together neatly.",
+    "Place one the medium-sized bowl for holding food down and carefully stack the others above it.",
+    "Stack the ceramic bowl with earthy brown trim, starting with the largest bowl at the bottom.",
+    "Stack all the rounded bowl with light blue color sequentially while handling one at a time.",
+    "Stack the curved bowl light blue shade from the base up to the top.",
+    "Use the arm to stack the blue bowl with slightly rounded base one by one.",
+    "Form a tower with bowls the medium-sized bowl for holding food, placing smallest last.",
+    "Take each the ceramic bowl and place them one by one on top.",
+    "Arrange the glazed bowl with curved sides one on top of another.",
+    "Position the blue bowl with slightly rounded base one on top of the other largest to smallest.",
+    "Pick up the blue bowl with slightly rounded base and stack them from biggest to smallest.",
+    "Place the first the ceramic bowl down, then stack the remaining two.",
+    "Grab the blue bowl, arrange them vertically.",
+    "Carefully stack the blue bowl piece by piece.",
+    "Place the first the rounded bowl with light blue color down, then stack the next two above it.",
+    "Take the bottom the blue bowl and sequentially pile the other two above.",
+    "Start with the bottom the medium-sized bowl for holding food and finish stacking.",
+    "Lift each the ceramic bowl with earthy brown trim and stack it over the previous one.",
+    "Stack the ceramic bowl with earthy brown trim sequentially using your arms.",
+    "Take the glazed bowl with curved sides, stack them from bottom to top.",
+    "Pick each the bowl with shiny texture and stack them in order one on top of another.",
+    "Grab a the blue bowl with slightly rounded base, set it down, and stack the rest on it."
+  ]
+}
diff --git a/stack_bowls_two/episode_0000011/TCP_head/metadata.json b/stack_bowls_two/episode_0000011/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed1a8449c7f511e2becb4fd7cc96a86e665e7e3f
--- /dev/null
+++ b/stack_bowls_two/episode_0000011/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    332,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/stack_bowls_two/episode_0000011/TCP_third/metadata.json b/stack_bowls_two/episode_0000011/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..16aaa6fa6541e0fe4ce553867fcab1782b99b6b5
--- /dev/null
+++ b/stack_bowls_two/episode_0000011/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    332,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/stack_bowls_two/episode_0000011/metadata.json b/stack_bowls_two/episode_0000011/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f90956790c89edc5e8040685a7e4ce2df255fb8
--- /dev/null
+++ b/stack_bowls_two/episode_0000011/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stack_bowls_two",
+  "episode": "episode_0000011",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_bowls_two/aloha_agilex/data/episode_0000011.hdf5",
+  "num_frames": 332,
+  "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": [
+      332,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      332,
+      14
+    ],
+    "action_shape": [
+      332,
+      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": [
+    "the rounded bowl with light blue color goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Hold the medium-sized bowl for holding food and stack the dark inside bowl light blue outside neatly atop.",
+    "Hold the bowl with shiny texture steady and slide the blue bowl on.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the small bowl with brown edge on top.",
+    "Pick the glazed bowl with curved sides, then stack the medium-sized bowl for holding food on it.",
+    "Position the glazed bowl with curved sides carefully on the glazed bowl with curved sides.",
+    "Set down the blue bowl with slightly rounded base and drop the curved bowl light blue shade on top.",
+    "Align the ceramic bowl over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Lift the ceramic bowl, position the medium-sized bowl for holding food above it, and stack.",
+    "Stack the rounded bowl with light blue color securely on top of the bowl with shiny texture.",
+    "Take the medium-sized bowl for holding food, align the dark inside bowl light blue outside, and stack them.",
+    "Pick the bowl with brown outer rim, position the medium-sized bowl for holding food, and place it over the bowl with brown outer rim.",
+    "Lift the rounded bowl with light blue color and position it neatly over the ceramic bowl.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the blue bowl over it.",
+    "Stack the ceramic bowl carefully over the ceramic bowl.",
+    "Place the bowl with brown outer rim down and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on top.",
+    "Grab the bowl with shiny texture, then carefully place the medium-sized bowl for holding food on top.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the blue bowl directly above.",
+    "Put the dark inside bowl light blue outside first, then bring the bowl with brown outer rim to stack above.",
+    "Lift the ceramic bowl, then stack it on the ceramic bowl with earthy brown trim.",
+    "Place the curved bowl light blue shade on the surface, then stack the small bowl with brown edge above it.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the ceramic bowl.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Take the rounded bowl with light blue color, place it, and stack the bowl with shiny texture on top.",
+    "Use the arm to place the curved bowl light blue shade, then stack the dark inside bowl light blue outside on top.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the blue bowl using the left arm.",
+    "Place the bowl with shiny texture down, then set the small bowl with brown edge above it.",
+    "Pick up the bowl with shiny texture and set the rounded bowl with light blue color on it.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Arrange the rounded bowl with light blue color, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the blue bowl above.",
+    "Set the curved bowl light blue shade over the ceramic bowl with earthy brown trim to create the stack.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the blue bowl with the left arm.",
+    "Align the medium-sized bowl for holding food and the curved bowl light blue shade, then stack the curved bowl light blue shade on the medium-sized bowl for holding food.",
+    "Position the medium-sized bowl for holding food with the arm, then set the medium-sized bowl for holding food above it.",
+    "Pick up the curved bowl light blue shade, grab the small bowl with brown edge, and stack the small bowl with brown edge on the curved bowl light blue shade.",
+    "Position the rounded bowl with light blue color and stack the blue bowl with slightly rounded base securely onto it.",
+    "Lift the blue bowl, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the blue bowl.",
+    "Grab the bowl with shiny texture, position it, and place the dark inside bowl light blue outside on top.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with shiny texture on top of the dark inside bowl light blue outside.",
+    "Grab the rounded bowl with light blue color, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the blue bowl over it.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Pick up the blue bowl using the right arm, then stack the curved bowl light blue shade using the left arm.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the bowl with shiny texture on top.",
+    "Take the rounded bowl with light blue color, place the dark inside bowl light blue outside above, and let go.",
+    "Position the bowl with brown outer rim, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the bowl with brown outer rim.",
+    "Set the dark inside bowl light blue outside down, then add the curved bowl light blue shade over it.",
+    "the glazed bowl with curved sides goes at the bottom, the small bowl with brown edge rests above.",
+    "Hold the small bowl with brown edge and stack the dark inside bowl light blue outside neatly atop.",
+    "Hold the small bowl with brown edge steady and slide the bowl with brown outer rim on.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the glazed bowl with curved sides, then stack the glazed bowl with curved sides on it.",
+    "Position the small bowl with brown edge carefully on the rounded bowl with light blue color.",
+    "Set down the blue bowl with slightly rounded base and drop the bowl with shiny texture on top.",
+    "Align the ceramic bowl with earthy brown trim over the blue bowl, then complete the stack.",
+    "Lift the bowl with brown outer rim, position the bowl with brown outer rim above it, and stack.",
+    "Stack the medium-sized bowl for holding food securely on top of the blue bowl.",
+    "Take the small bowl with brown edge, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick the bowl with brown outer rim, position the bowl with shiny texture, and place it over the bowl with brown outer rim.",
+    "Lift the rounded bowl with light blue color and position it neatly over the medium-sized bowl for holding food.",
+    "Grab the glazed bowl with curved sides, set it down, then place the curved bowl light blue shade over it.",
+    "Stack the glazed bowl with curved sides carefully over the curved bowl light blue shade.",
+    "Place the small bowl with brown edge down and stack the rounded bowl with light blue color on top.",
+    "Grab the rounded bowl with light blue color, then stack the blue bowl on top.",
+    "Grab the ceramic bowl, then carefully place the small bowl with brown edge on top.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the curved bowl light blue shade directly above.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the rounded bowl with light blue color to stack above.",
+    "Lift the glazed bowl with curved sides, then stack it on the small bowl with brown edge.",
+    "Place the blue bowl on the surface, then stack the bowl with brown outer rim above it.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Lift the blue bowl using the right arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Take the bowl with brown outer rim, place it, and stack the ceramic bowl on top.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the ceramic bowl on top.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the medium-sized bowl for holding food using the left arm.",
+    "Place the bowl with brown outer rim down, then set the glazed bowl with curved sides above it.",
+    "Pick up the blue bowl with slightly rounded base and set the bowl with brown outer rim on it.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Arrange the bowl with shiny texture, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the curved bowl light blue shade above.",
+    "Set the blue bowl with slightly rounded base over the bowl with shiny texture to create the stack.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Align the ceramic bowl and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the ceramic bowl.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the blue bowl above it.",
+    "Pick up the rounded bowl with light blue color, grab the ceramic bowl, and stack the ceramic bowl on the rounded bowl with light blue color.",
+    "Position the bowl with shiny texture and stack the dark inside bowl light blue outside securely onto it.",
+    "Lift the bowl with shiny texture, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the bowl with shiny texture.",
+    "Grab the bowl with shiny texture, position it, and place the curved bowl light blue shade on top.",
+    "Place the medium-sized bowl for holding food down, then set the curved bowl light blue shade on top of the medium-sized bowl for holding food.",
+    "Grab the glazed bowl with curved sides, lift it up, position the blue bowl, and stack them.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the blue bowl over it.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the glazed bowl with curved sides.",
+    "Pick up the blue bowl using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Pick up the bowl with brown outer rim, place it down, then position the glazed bowl with curved sides on top.",
+    "Take the ceramic bowl with earthy brown trim, place the blue bowl with slightly rounded base above, and let go.",
+    "Position the curved bowl light blue shade, lift the ceramic bowl, and place the ceramic bowl on the curved bowl light blue shade.",
+    "Set the blue bowl with slightly rounded base down, then add the glazed bowl with curved sides over it.",
+    "the medium-sized bowl for holding food goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Hold the dark inside bowl light blue outside and stack the curved bowl light blue shade neatly atop."
+  ]
+}