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+  "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",
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+    "Relocate the plastic stapler with metal on base to the Magenta colored mat",
+    "Grab the curved blue and silver stapler and drop it on Magenta mat.",
+    "Relocate the handheld blue and silver stapler to the Magenta mat.",
+    "With the right arm, position the blue plastic stapler with silver metal on the Magenta mat",
+    "Move the blue plastic stapler with silver metal to the Magenta mat.",
+    "Set the blue plastic stapler with silver metal down on the Magenta mat",
+    "Use the right arm to grab the stapler with curved blue top and place it on Magenta mat",
+    "Use the right arm to place the stapler with curved blue top onto the Magenta mat",
+    "Transfer the stapler with curved blue top to the Magenta mat",
+    "Place the curved blue and silver stapler on the Magenta mat using the right arm",
+    "Shift the metallic stapler with blue cover manually to the Magenta mat",
+    "Stick the compact stapler with smooth surface onto the Magenta colored mat.",
+    "the right arm places the blue stapler on the Magenta mat.",
+    "Put the compact stapler with smooth surface on the Magenta mat",
+    "Pick the manual blue stapler using the right arm and move it to Magenta mat.",
+    "Grab the stapler with curved blue top with the right arm and drop it on Magenta mat.",
+    "Grab the stapler with smooth blue finish and stick it onto Magenta mat",
+    "Carry the compact stapler with smooth surface to the Magenta colored mat",
+    "Lift the compact stapler with smooth surface to the Magenta mat using the right arm",
+    "Set the compact stapler with smooth surface onto the Magenta colored mat.",
+    "Move the blue plastic stapler with silver metal with the right arm to the Magenta mat",
+    "Pick the blue plastic stapler with silver metal up and position it on Magenta mat",
+    "Use the right arm to shift the curved blue and silver stapler onto the Magenta mat",
+    "Drop the manual blue stapler onto the Magenta mat.",
+    "With the right arm, move the compact stapler with smooth surface to the Magenta mat",
+    "the right arm grabs the blue plastic stapler with silver metal and sets it on Magenta mat.",
+    "Stick the blue stapler with shiny silver parts on the Magenta mat.",
+    "Using the right arm, set the handheld blue and silver stapler on the Magenta colored mat",
+    "Grab the blue stapler with ergonomic curve using the right arm and shift it to Magenta",
+    "the right arm moves the blue stapler with shiny silver parts to the Magenta mat.",
+    "Shift the stapler with smooth blue finish to the Magenta mat",
+    "Pick the blue stapler with shiny silver parts with the right arm and place it on Magenta mat",
+    "Position the handheld blue and silver stapler on the Magenta mat.",
+    "Place the plastic stapler with metal on base onto the Magenta colored mat.",
+    "Set the compact stapler with smooth surface on the Magenta mat with the right arm.",
+    "Pick up the stapler with curved blue top and place it on Magenta mat",
+    "Use the right arm and place the handheld blue and silver stapler on Magenta mat.",
+    "Transfer the manual blue stapler to the Magenta colored mat.",
+    "Slide the manual blue stapler to the Magenta colored mat.",
+    "Grab the metallic stapler with blue cover, place it on the Magenta mat",
+    "Carry the blue stapler with ergonomic curve and drop it onto the Magenta mat",
+    "Pick up the blue plastic stapler with silver metal with the right arm and set it on Magenta",
+    "Lift the plastic stapler with metal on base and drop it onto Magenta mat",
+    "the right arm transfers the blue plastic stapler with silver metal to the Magenta mat.",
+    "Drop the blue stapler with ergonomic curve carefully on the Magenta mat",
+    "Grab the blue stapler using the right arm and set it on Magenta mat.",
+    "Move the plastic stapler with metal on base to the Magenta mat with the right arm",
+    "Set the blue stapler with ergonomic curve down on the Magenta mat",
+    "Place the metallic stapler with blue cover onto the Magenta colored mat",
+    "Relocate the plastic stapler with metal on base to the Magenta colored mat",
+    "Grab the blue stapler with shiny silver parts and drop it on Magenta mat.",
+    "Relocate the blue stapler to the Magenta mat.",
+    "With the right arm, position the blue plastic stapler with silver metal on the Magenta mat",
+    "Move the plastic stapler with metal on base to the Magenta mat.",
+    "Set the metallic stapler with blue cover down on the Magenta mat",
+    "Use the right arm to grab the blue stapler with ergonomic curve and place it on Magenta mat",
+    "Use the right arm to place the curved blue and silver stapler onto the Magenta mat",
+    "Transfer the compact stapler with smooth surface to the Magenta mat",
+    "Place the curved blue and silver stapler on the Magenta mat using the right arm",
+    "Shift the blue stapler with shiny silver parts manually to the Magenta mat",
+    "Stick the curved blue and silver stapler onto the Magenta colored mat.",
+    "the right arm places the compact stapler with smooth surface on the Magenta mat.",
+    "Put the blue plastic stapler with silver metal on the Magenta mat",
+    "Pick the stapler with smooth blue finish using the right arm and move it to Magenta mat.",
+    "Grab the blue stapler with ergonomic curve with the right arm and drop it on Magenta mat.",
+    "Grab the manual blue stapler and stick it onto Magenta mat",
+    "Carry the handheld blue and silver stapler to the Magenta colored mat",
+    "Lift the manual blue stapler to the Magenta mat using the right arm",
+    "Set the curved blue and silver stapler onto the Magenta colored mat.",
+    "Move the blue stapler with shiny silver parts with the right arm to the Magenta mat",
+    "Pick the stapler with smooth blue finish up and position it on Magenta mat",
+    "Use the right arm to shift the plastic stapler with metal on base onto the Magenta mat",
+    "Drop the blue stapler with shiny silver parts onto the Magenta mat.",
+    "With the right arm, move the blue plastic stapler with silver metal to the Magenta mat",
+    "the right arm grabs the blue plastic stapler with silver metal and sets it on Magenta mat.",
+    "Stick the curved blue and silver stapler on the Magenta mat.",
+    "Using the right arm, set the blue stapler with ergonomic curve on the Magenta colored mat",
+    "Grab the manual blue stapler using the right arm and shift it to Magenta",
+    "the right arm moves the blue stapler to the Magenta mat.",
+    "Shift the blue plastic stapler with silver metal to the Magenta mat",
+    "Pick the stapler with curved blue top with the right arm and place it on Magenta mat",
+    "Position the manual blue stapler on the Magenta mat.",
+    "Place the blue plastic stapler with silver metal onto the Magenta colored mat.",
+    "Set the blue plastic stapler with silver metal on the Magenta mat with the right arm.",
+    "Pick up the blue plastic stapler with silver metal and place it on Magenta mat",
+    "Use the right arm and place the metallic stapler with blue cover on Magenta mat.",
+    "Transfer the blue stapler with shiny silver parts to the Magenta colored mat.",
+    "Slide the blue stapler with shiny silver parts to the Magenta colored mat.",
+    "Grab the stapler with curved blue top, place it on the Magenta mat",
+    "Carry the manual blue stapler and drop it onto the Magenta mat",
+    "Pick up the compact stapler with smooth surface with the right arm and set it on Magenta",
+    "Lift the blue stapler with ergonomic curve and drop it onto Magenta mat",
+    "the right arm transfers the blue stapler with ergonomic curve to the Magenta mat.",
+    "Drop the stapler with curved blue top carefully on the Magenta mat",
+    "Grab the compact stapler with smooth surface using the right arm and set it on Magenta mat.",
+    "Move the stapler with curved blue top to the Magenta mat with the right arm",
+    "Set the blue stapler down on the Magenta mat",
+    "Place the metallic stapler with blue cover onto the Magenta colored mat",
+    "Relocate the blue stapler with ergonomic curve to the Magenta colored mat",
+    "Grab the stapler with curved blue top and drop it on Magenta mat."
+  ]
+}
diff --git a/move_stapler_pad/episode_0000007/TCP_head/metadata.json b/move_stapler_pad/episode_0000007/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a1ca14b1b5b3cd4e62e303af3032f374863d66c
--- /dev/null
+++ b/move_stapler_pad/episode_0000007/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    169,
+    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/move_stapler_pad/episode_0000007/TCP_third/metadata.json b/move_stapler_pad/episode_0000007/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba4a7eba0f2ccb677f19b1a29de4337aa6694fc2
--- /dev/null
+++ b/move_stapler_pad/episode_0000007/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    169,
+    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/move_stapler_pad/episode_0000007/metadata.json b/move_stapler_pad/episode_0000007/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..41b364a1a11dc0006a0a4e7c6dcf4b4a4df21ae8
--- /dev/null
+++ b/move_stapler_pad/episode_0000007/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_stapler_pad",
+  "episode": "episode_0000007",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_stapler_pad/aloha_agilex/data/episode_0000007.hdf5",
+  "num_frames": 169,
+  "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": [
+      169,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      169,
+      14
+    ],
+    "action_shape": [
+      169,
+      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 up the lightweight red stapler and place it on Black mat",
+    "Pick up the compact stapler with the right arm and set it on Black",
+    "Use the right arm to shift the curved red stapler onto the Black mat",
+    "Move the stapler with rectangular silver mechanism to the Black mat.",
+    "Drop the metallic stapler with red body carefully on the Black mat",
+    "With the right arm, move the plastic stapler with metal top to the Black mat",
+    "Using the right arm, set the stapler with rectangular silver mechanism on the Black colored mat",
+    "Pick the small red stapler using the right arm and move it to Black mat.",
+    "Move the stapler in bright red color to the Black mat with the right arm",
+    "the right arm moves the compact red stapler with silver accents to the Black mat.",
+    "Set the compact red stapler with silver accents on the Black mat with the right arm.",
+    "Carry the lightweight red stapler and drop it onto the Black mat",
+    "Put the compact stapler on the Black mat",
+    "Carry the red stapler to the Black colored mat",
+    "Transfer the metallic stapler with red body to the Black colored mat.",
+    "With the right arm, position the red stapler on the Black mat",
+    "Pick the plastic stapler with metal top with the right arm and place it on Black mat",
+    "the right arm places the stapler in bright red color on the Black mat.",
+    "Drop the stapler with rectangular silver mechanism onto the Black mat.",
+    "the right arm grabs the red stapler for binding papers and sets it on Black mat.",
+    "Move the compact stapler with the right arm to the Black mat",
+    "Grab the plastic stapler with metal top using the right arm and shift it to Black",
+    "Transfer the red stapler for binding papers to the Black mat",
+    "Place the red stapler for binding papers onto the Black colored mat.",
+    "Lift the red stapler and drop it onto Black mat",
+    "Shift the metallic stapler with red body to the Black mat",
+    "Set the red stapler for binding papers down on the Black mat",
+    "Slide the metallic stapler with red body to the Black colored mat.",
+    "Pick the lightweight red stapler up and position it on Black mat",
+    "Position the red stapler on the Black mat.",
+    "Set the compact red stapler with silver accents onto the Black colored mat.",
+    "Set the stapler with rectangular silver mechanism down on the Black mat",
+    "Lift the small red stapler to the Black mat using the right arm",
+    "Place the plastic stapler with metal top on the Black mat using the right arm",
+    "Grab the stapler in bright red color and drop it on Black mat.",
+    "Grab the red stapler for binding papers, place it on the Black mat",
+    "Grab the plastic stapler with metal top with the right arm and drop it on Black mat.",
+    "Relocate the red stapler to the Black mat.",
+    "Use the right arm and place the lightweight red stapler on Black mat.",
+    "Place the compact stapler onto the Black colored mat",
+    "Use the right arm to place the handheld red stapler onto the Black mat",
+    "Shift the compact red stapler with silver accents manually to the Black mat",
+    "Stick the compact red stapler with silver accents onto the Black colored mat.",
+    "Stick the stapler in bright red color on the Black mat.",
+    "Use the right arm to grab the red stapler and place it on Black mat",
+    "Grab the stapler in bright red color using the right arm and set it on Black mat.",
+    "the right arm transfers the compact red stapler with silver accents to the Black mat.",
+    "Relocate the compact stapler to the Black colored mat",
+    "Grab the small red stapler and stick it onto Black mat",
+    "Pick up the compact stapler and place it on Black mat",
+    "Pick up the plastic stapler with metal top with the right arm and set it on Black",
+    "Use the right arm to shift the stapler with rectangular silver mechanism onto the Black mat",
+    "Move the plastic stapler with metal top to the Black mat.",
+    "Drop the compact red stapler with silver accents carefully on the Black mat",
+    "With the right arm, move the stapler with rectangular silver mechanism to the Black mat",
+    "Using the right arm, set the compact stapler on the Black colored mat",
+    "Pick the metallic stapler with red body using the right arm and move it to Black mat.",
+    "Move the compact red stapler with silver accents to the Black mat with the right arm",
+    "the right arm moves the plastic stapler with metal top to the Black mat.",
+    "Set the stapler in bright red color on the Black mat with the right arm.",
+    "Carry the red stapler for binding papers and drop it onto the Black mat",
+    "Put the lightweight red stapler on the Black mat",
+    "Carry the compact stapler to the Black colored mat",
+    "Transfer the red stapler for binding papers to the Black colored mat.",
+    "With the right arm, position the stapler with rectangular silver mechanism on the Black mat",
+    "Pick the red stapler with the right arm and place it on Black mat",
+    "the right arm places the small red stapler on the Black mat.",
+    "Drop the compact red stapler with silver accents onto the Black mat.",
+    "the right arm grabs the handheld red stapler and sets it on Black mat.",
+    "Move the small red stapler with the right arm to the Black mat",
+    "Grab the metallic stapler with red body using the right arm and shift it to Black",
+    "Transfer the plastic stapler with metal top to the Black mat",
+    "Place the compact stapler onto the Black colored mat.",
+    "Lift the red stapler for binding papers and drop it onto Black mat",
+    "Shift the lightweight red stapler to the Black mat",
+    "Set the stapler with rectangular silver mechanism down on the Black mat",
+    "Slide the red stapler to the Black colored mat.",
+    "Pick the stapler in bright red color up and position it on Black mat",
+    "Position the plastic stapler with metal top on the Black mat.",
+    "Set the stapler with rectangular silver mechanism onto the Black colored mat.",
+    "Set the compact red stapler with silver accents down on the Black mat",
+    "Lift the compact stapler to the Black mat using the right arm",
+    "Place the red stapler on the Black mat using the right arm",
+    "Grab the stapler in bright red color and drop it on Black mat.",
+    "Grab the curved red stapler, place it on the Black mat",
+    "Grab the metallic stapler with red body with the right arm and drop it on Black mat.",
+    "Relocate the red stapler to the Black mat.",
+    "Use the right arm and place the red stapler on Black mat.",
+    "Place the stapler with rectangular silver mechanism onto the Black colored mat",
+    "Use the right arm to place the stapler in bright red color onto the Black mat",
+    "Shift the red stapler manually to the Black mat",
+    "Stick the stapler in bright red color onto the Black colored mat.",
+    "Stick the small red stapler on the Black mat.",
+    "Use the right arm to grab the curved red stapler and place it on Black mat",
+    "Grab the stapler in bright red color using the right arm and set it on Black mat.",
+    "the right arm transfers the handheld red stapler to the Black mat.",
+    "Relocate the lightweight red stapler to the Black colored mat",
+    "Grab the handheld red stapler and stick it onto Black mat",
+    "Pick up the curved red stapler and place it on Black mat",
+    "Pick up the stapler in bright red color with the right arm and set it on Black"
+  ]
+}
diff --git a/place_a2b_left/episode_0000013/TCP_third/metadata.json b/place_a2b_left/episode_0000013/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..eca4c10c1fe3ff7ab3b35037e5fd7c177e19d8bb
--- /dev/null
+++ b/place_a2b_left/episode_0000013/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    160,
+    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_a2b_left/episode_0000036/TCP_head/metadata.json b/place_a2b_left/episode_0000036/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..705f81a2014edb2dd36f8fab48e34912c3245b64
--- /dev/null
+++ b/place_a2b_left/episode_0000036/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    159,
+    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_a2b_left/episode_0000036/TCP_third/metadata.json b/place_a2b_left/episode_0000036/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5c55463dd170ba5e910a4ac73fb6471681273d0
--- /dev/null
+++ b/place_a2b_left/episode_0000036/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    159,
+    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_a2b_left/episode_0000036/metadata.json b/place_a2b_left/episode_0000036/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c546cb97b4b7fef3f1bb7ff44faec0eea635f6b
--- /dev/null
+++ b/place_a2b_left/episode_0000036/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_a2b_left",
+  "episode": "episode_0000036",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_a2b_left/aloha_agilex/data/episode_0000036.hdf5",
+  "num_frames": 159,
+  "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": [
+      159,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      159,
+      14
+    ],
+    "action_shape": [
+      159,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Grab the brown box holding coffee using the left arm and place left of the mouse with curved ergonomic shape.",
+    "Move the brown box holding coffee to the left of the computer mouse",
+    "Grab the coffee box using the left arm and move left of the compact matte gray computer mouse",
+    "Set the light brown cardboard coffee box directly to the left of the small mouse with smooth surface",
+    "Drop the box for coffee storage on the left side of the dark ergonomic mouse for computer navigation",
+    "Place the brown box holding coffee directly to the left of the small mouse with smooth surface.",
+    "Use the left arm to move the cardboard box for coffee to the plastic mouse with smooth finish's left",
+    "Shift the light brown coffee storage container and position it left of the mouse with curved ergonomic shape.",
+    "Move the medium-sized coffee box to the left side of the small mouse with smooth surface",
+    "With the left arm, set the cardboard box for coffee on the left of the small mouse with smooth surface.",
+    "Use the left arm to set the light brown cardboard coffee box left of the oval-shaped mouse for computer use",
+    "With the left arm, move the medium-sized coffee box to the left side of the dark ergonomic mouse for computer navigation.",
+    "Place the coffee box exactly to the left of the dark mouse with slight textured sides",
+    "Adjust the cardboard box for coffee to rest on the mouse with curved ergonomic shape's left",
+    "Using the left arm, move the coffee box left of the mouse with scroll wheel in center.",
+    "Use the left arm to position the coffee box left of the oval-shaped mouse for computer use",
+    "Set the light brown coffee storage container left of the small mouse with smooth surface.",
+    "Position the coffee box to the left of the mouse with curved ergonomic shape.",
+    "Put the cardboard box for coffee to the left of the dark ergonomic mouse for computer navigation",
+    "Shift the light brown coffee storage container leftward to the side of the gray mouse",
+    "Stick the medium-sized coffee box on the left of the gray mouse",
+    "Place the brown coffee box left of the dark ergonomic mouse for computer navigation using the left arm",
+    "Position the brown box holding coffee carefully to the left of the mouse with scroll wheel in center.",
+    "With the left arm, position the box with coffee cup label left of the mouse with two buttons and a scroll wheel.",
+    "Use the left arm to move the rectangular coffee box to the left of the plastic mouse with smooth finish.",
+    "Use the left arm and place the coffee box with printed design left of the oval-shaped mouse for computer use.",
+    "Set the coffee box with printed design carefully on the left of the computer mouse",
+    "With the left arm, stick the cardboard box for coffee left of the compact matte gray computer mouse",
+    "Move the cardboard box for coffee to the left of the small mouse with smooth surface.",
+    "Set the brown coffee box to the left of the dark mouse with slight textured sides",
+    "Grab the coffee box with the left arm and set left of the plastic mouse with smooth finish",
+    "Carefully position the cardboard box for coffee to the left of the oval-shaped mouse for computer use.",
+    "Grab the rectangular coffee box with the left arm and shift it left of the rounded top mouse with glossy logo.",
+    "Place the light brown box with coffee image on the left of the plastic mouse with smooth finish.",
+    "Using the left arm, put the brown coffee box on left of the compact matte gray computer mouse",
+    "Set the brown coffee box on the left side of the oval-shaped mouse for computer use.",
+    "Place the medium-sized coffee box to rest left of the small mouse with smooth surface using the left arm",
+    "Place the light brown cardboard coffee box carefully to the rounded top mouse with glossy logo's left",
+    "Position the light brown coffee storage container to the left of the computer mouse",
+    "Grab the coffee box using the left arm and place it left of the compact matte gray computer mouse.",
+    "Place the light brown coffee storage container left of the oval-shaped mouse for computer use using the left arm",
+    "Put the medium-sized coffee box on the left side of the mouse with curved ergonomic shape",
+    "Use the left arm to put the cardboard box for coffee left of the gray mouse",
+    "Using the left arm, place the light brown cardboard coffee box on the left of the computer mouse",
+    "Use the left arm, move the medium-sized coffee box left of the dark ergonomic mouse for computer navigation",
+    "With the left arm, position the cardboard box for coffee left of the mouse with two buttons and a scroll wheel",
+    "Move the light brown cardboard coffee box to the left of the oval-shaped mouse for computer use.",
+    "With the left arm, place the box for coffee storage left of the compact matte gray computer mouse",
+    "Drop the light brown coffee storage container to the left of the mouse with curved ergonomic shape",
+    "Using the left arm, set the box for coffee storage to the left of the computer mouse.",
+    "Grab the brown box holding coffee using the left arm and place left of the dark mouse with slight textured sides.",
+    "Move the light brown coffee storage container to the left of the computer mouse",
+    "Grab the box with coffee cup label using the left arm and move left of the compact matte gray computer mouse",
+    "Set the light brown box with coffee image directly to the left of the small mouse with smooth surface",
+    "Drop the brown coffee box on the left side of the mouse with curved ergonomic shape",
+    "Place the light brown coffee storage container directly to the left of the dark ergonomic mouse for computer navigation.",
+    "Use the left arm to move the brown box holding coffee to the mouse with scroll wheel in center's left",
+    "Shift the box with coffee cup label and position it left of the mouse with two buttons and a scroll wheel.",
+    "Move the coffee box with printed design to the left side of the dark mouse with slight textured sides",
+    "With the left arm, set the box for coffee storage on the left of the small mouse with smooth surface.",
+    "Use the left arm to set the rectangular coffee box left of the dark mouse with slight textured sides",
+    "With the left arm, move the light brown box with coffee image to the left side of the small mouse with smooth surface.",
+    "Place the box for coffee storage exactly to the left of the gray mouse",
+    "Adjust the medium-sized coffee box to rest on the gray mouse's left",
+    "Using the left arm, move the coffee box with printed design left of the mouse with two buttons and a scroll wheel.",
+    "Use the left arm to position the light brown cardboard coffee box left of the compact matte gray computer mouse",
+    "Set the cardboard box for coffee left of the computer mouse.",
+    "Position the box with coffee cup label to the left of the compact matte gray computer mouse.",
+    "Put the light brown coffee storage container to the left of the plastic mouse with smooth finish",
+    "Shift the box for coffee storage leftward to the side of the oval-shaped mouse for computer use",
+    "Stick the brown coffee box on the left of the mouse with two buttons and a scroll wheel",
+    "Place the cardboard box for coffee left of the mouse with two buttons and a scroll wheel using the left arm",
+    "Position the light brown coffee storage container carefully to the left of the dark mouse with slight textured sides.",
+    "With the left arm, position the light brown coffee storage container left of the computer mouse.",
+    "Use the left arm to move the light brown cardboard coffee box to the left of the mouse with curved ergonomic shape.",
+    "Use the left arm and place the cardboard box for coffee left of the small mouse with smooth surface.",
+    "Set the light brown cardboard coffee box carefully on the left of the compact matte gray computer mouse",
+    "With the left arm, stick the brown coffee box left of the mouse with two buttons and a scroll wheel",
+    "Move the light brown coffee storage container to the left of the compact matte gray computer mouse.",
+    "Set the box for coffee storage to the left of the small mouse with smooth surface",
+    "Grab the rectangular coffee box with the left arm and set left of the gray mouse",
+    "Carefully position the medium-sized coffee box to the left of the mouse with scroll wheel in center.",
+    "Grab the light brown coffee storage container with the left arm and shift it left of the mouse with two buttons and a scroll wheel.",
+    "Place the coffee box on the left of the mouse with two buttons and a scroll wheel.",
+    "Using the left arm, put the medium-sized coffee box on left of the dark ergonomic mouse for computer navigation",
+    "Set the cardboard box for coffee on the left side of the rounded top mouse with glossy logo.",
+    "Place the box for coffee storage to rest left of the gray mouse using the left arm",
+    "Place the brown box holding coffee carefully to the rounded top mouse with glossy logo's left",
+    "Position the rectangular coffee box to the left of the plastic mouse with smooth finish",
+    "Grab the light brown cardboard coffee box using the left arm and place it left of the compact matte gray computer mouse.",
+    "Place the box with coffee cup label left of the mouse with scroll wheel in center using the left arm",
+    "Put the coffee box with printed design on the left side of the mouse with scroll wheel in center",
+    "Use the left arm to put the box for coffee storage left of the dark ergonomic mouse for computer navigation",
+    "Using the left arm, place the coffee box on the left of the rounded top mouse with glossy logo",
+    "Use the left arm, move the light brown coffee storage container left of the mouse with curved ergonomic shape",
+    "With the left arm, position the brown box holding coffee left of the dark ergonomic mouse for computer navigation",
+    "Move the brown box holding coffee to the left of the mouse with scroll wheel in center.",
+    "With the left arm, place the coffee box left of the gray mouse",
+    "Drop the light brown box with coffee image to the left of the mouse with curved ergonomic shape",
+    "Using the left arm, set the box for coffee storage to the left of the rounded top mouse with glossy logo."
+  ]
+}
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diff --git a/place_can_basket/episode_0000022/TCP_third/metadata.json b/place_can_basket/episode_0000022/TCP_third/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    254,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_can_basket/episode_0000023/TCP_head/metadata.json b/place_can_basket/episode_0000023/TCP_head/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    258,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_can_basket/episode_0000023/metadata.json b/place_can_basket/episode_0000023/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_can_basket",
+  "episode": "episode_0000023",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_can_basket/aloha_agilex/data/episode_0000023.hdf5",
+  "num_frames": 258,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      258,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      258,
+      14
+    ],
+    "action_shape": [
+      258,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Pick the red green beverage can with one arm, place it in the woven basket, and lift the woven basket using another arm.",
+    "Use the left arm to insert the red green can in the brown basket; the other arm lifts the brown basket.",
+    "Use the left arm to lower the colorful can with lime and orange design into the light brown oval basket; the other arm lifts the light brown oval basket.",
+    "Pick up the green red metallic soda can, place it in the basket with handle, and then lift the basket with handle.",
+    "Take the red green can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Use the left arm to set the colorful can with lime and orange design in the smooth ribbed light brown basket; another arm lifts the smooth ribbed light brown basket.",
+    "Grab and drop the beverage can with red green graphics in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.",
+    "Use one arm for the metal can with pull-tab top, then the other arm lifts the basket for holding items.",
+    "Use the left arm to grab the drink can with bright colors and place in the woven basket, lift the woven basket with another arm.",
+    "Lift the metallic drink can with pull-tab, place it in the basket for carrying things, pick up the basket for carrying things afterward.",
+    "Lift the red green can, place it inside the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Pick up the soda can with lime illustration, set it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Grab the drink can with bright colors, place it in the basket for holding items, and raise the basket for holding items using the other arm.",
+    "Place the red green can in the basket with loop handle and then lift the basket with loop handle.",
+    "Use the left arm to set the red green can in the basket with handle; the other arm lifts the basket with handle.",
+    "Use the left arm to grab the soda can with lime illustration, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Lift the colorful can with lime and orange design, drop it into the light brown oval basket, then carry the light brown oval basket.",
+    "Lift the can with red green label, put it in the basket for carrying things, and carry the basket for carrying things afterward.",
+    "Grab the drink can with bright colors, drop it into the light brown oval basket, and raise the light brown oval basket.",
+    "Pick the smooth cylindrical can with lime pattern with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Place the metallic drink can with pull-tab in the light brown oval basket and then use another arm to lift the light brown oval basket.",
+    "Pick up the smooth cylindrical can with lime pattern, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Grab the red green can, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Pick the drink can with bright colors using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Pick up the colorful can with lime and orange design, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Use the left arm to place the red green beverage can in the basket for carrying things; the other arm lifts the basket for carrying things.",
+    "Use the left arm to drop the soda can with lime illustration in the wooden basket with curved handle; the other arm lifts the wooden basket with curved handle.",
+    "Lift the beverage can with red green graphics, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Grab the small soda can with lime graphics, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.",
+    "Use the left arm to place the small soda can with lime graphics in the basket for holding items; another arm lifts the basket for holding items.",
+    "Pick up the can with red green label, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Take the red green can, place it into the basket made of woven wood, then lift the basket made of woven wood.",
+    "Pick the beverage can with red green graphics with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Grab the can with red green label, set it into the basket made of woven wood, then raise the basket made of woven wood.",
+    "Grab the green red metallic soda can, place it in the woven basket, and lift the woven basket upwards.",
+    "Grab the red green beverage can, put it in the basket for holding items, then raise the basket for holding items.",
+    "Pick the metal can with pull-tab top, set it in the basket with loop handle, then lift the basket with loop handle.",
+    "Place the green red metallic soda can inside the brown basket, then lift the brown basket.",
+    "Use the left arm to put the can with red green label in the woven basket; another arm lifts the woven basket.",
+    "Grab the red green can with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Take the red green beverage can with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Drop the red green can into the basket for carrying things using the left arm, then lift the basket for carrying things with another arm.",
+    "Grab the small soda can with lime graphics, drop it into the basket with handle, then use another arm for the basket with handle.",
+    "Use the left arm to put the soda can with lime illustration in the smooth ribbed light brown basket; the other arm raises the smooth ribbed light brown basket.",
+    "Take the can with red green label, set it into the basket for carrying things, and raise the basket for carrying things.",
+    "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.",
+    "Pick up the small soda can with lime graphics with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.",
+    "Lift the smooth cylindrical can with lime pattern, place it in the basket for carrying things, and raise the basket for carrying things.",
+    "Take the can with red green label in the left arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.",
+    "Use the left arm to put the smooth cylindrical can with lime pattern in the smooth ribbed light brown basket; the other arm lifts the smooth ribbed light brown basket.",
+    "Pick the red green beverage can with one arm, place it in the brown basket, and lift the brown basket using another arm.",
+    "Use the left arm to insert the smooth cylindrical can with lime pattern in the basket with handle; the other arm lifts the basket with handle.",
+    "Use the left arm to lower the beverage can with red green graphics into the basket for holding items; the other arm lifts the basket for holding items.",
+    "Pick up the metal can with pull-tab top, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Take the red green beverage can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Use the left arm to set the red green can in the wooden basket with curved handle; another arm lifts the wooden basket with curved handle.",
+    "Grab and drop the beverage can with red green graphics in the light brown oval basket, lift the light brown oval basket.",
+    "Use one arm for the metallic drink can with pull-tab, then the other arm lifts the brown basket with woven ridges.",
+    "Use the left arm to grab the drink can with bright colors and place in the basket made of woven wood, lift the basket made of woven wood with another arm.",
+    "Lift the red green beverage can, place it in the basket for holding items, pick up the basket for holding items afterward.",
+    "Lift the soda can with lime illustration, place it inside the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Pick up the green red metallic soda can, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Grab the small soda can with lime graphics, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.",
+    "Place the red green beverage can in the wooden basket with curved handle and then lift the wooden basket with curved handle.",
+    "Use the left arm to set the metal can with pull-tab top in the oval-shaped basket with woven body; the other arm lifts the oval-shaped basket with woven body.",
+    "Use the left arm to grab the red green can, put it into the brown basket, and lift the brown basket with another arm.",
+    "Lift the red green can, drop it into the basket for holding items, then carry the basket for holding items.",
+    "Lift the drink can with bright colors, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.",
+    "Grab the metal can with pull-tab top, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Pick the smooth cylindrical can with lime pattern with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Place the drink can with bright colors in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.",
+    "Pick up the drink can with bright colors, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab the red green beverage can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Pick the beverage can with red green graphics using the left arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.",
+    "Pick up the smooth cylindrical can with lime pattern, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm to place the small soda can with lime graphics in the basket with handle; the other arm lifts the basket with handle.",
+    "Use the left arm to drop the green red metallic soda can in the wooden basket with curved handle; the other arm lifts the wooden basket with curved handle.",
+    "Lift the drink can with bright colors, set it in the basket for carrying things, and elevate the basket for carrying things.",
+    "Grab the drink can with bright colors, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.",
+    "Use the left arm to place the metallic drink can with pull-tab in the basket made of woven wood; another arm lifts the basket made of woven wood.",
+    "Pick up the colorful can with lime and orange design, put it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Take the metal can with pull-tab top, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Pick the red green can with the left arm, set it in the brown basket, and lift the brown basket using another arm.",
+    "Grab the beverage can with red green graphics, set it into the basket for holding items, then raise the basket for holding items.",
+    "Grab the drink can with bright colors, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.",
+    "Grab the small soda can with lime graphics, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Pick the soda can with lime illustration, set it in the basket with loop handle, then lift the basket with loop handle.",
+    "Place the can with red green label inside the light brown oval basket, then lift the light brown oval basket.",
+    "Use the left arm to put the small soda can with lime graphics in the brown basket; another arm lifts the brown basket.",
+    "Grab the red green beverage can with the left arm, put it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Take the small soda can with lime graphics with the left arm, drop it into the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Drop the smooth cylindrical can with lime pattern into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.",
+    "Grab the red green beverage can, drop it into the basket for carrying things, then use another arm for the basket for carrying things.",
+    "Use the left arm to put the can with red green label in the brown basket; the other arm raises the brown basket.",
+    "Take the red green beverage can, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.",
+    "Pick the can with red green label, set it in the brown basket, and lift the brown basket upward.",
+    "Pick up the red green can with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.",
+    "Lift the metallic drink can with pull-tab, place it in the basket with handle, and raise the basket with handle.",
+    "Take the red green can in the left arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.",
+    "Use the left arm to put the beverage can with red green graphics in the light brown oval basket; the other arm lifts the light brown oval basket."
+  ]
+}
diff --git a/place_empty_cup/episode_0000001/TCP_head/metadata.json b/place_empty_cup/episode_0000001/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..940d5fec831e87c3305ed540c50c29c3049f2ba9
--- /dev/null
+++ b/place_empty_cup/episode_0000001/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    172,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_empty_cup/episode_0000001/metadata.json b/place_empty_cup/episode_0000001/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd72924ca74732238df42cc0440c8b9bedf19819
--- /dev/null
+++ b/place_empty_cup/episode_0000001/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_empty_cup",
+  "episode": "episode_0000001",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_empty_cup/aloha_agilex/data/episode_0000001.hdf5",
+  "num_frames": 172,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      172,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      172,
+      14
+    ],
+    "action_shape": [
+      172,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Stick the smooth blue cup for liquids onto the flat round wooden coaster using the arm",
+    "Drop the cylindrical light blue cup on top of the light gray round grainy coaster.",
+    "Use an arm to drop the cup with light blue color on the coaster made of smooth wood",
+    "Use the arm to put the rounded base blue cup onto the flat round wooden coaster.",
+    "Make sure the cup with light blue color ends up on the wooden coaster.",
+    "Place the smooth blue cup for liquids on top of the small coaster with grain texture",
+    "Set the smooth blue cup for liquids on the flat round wooden coaster using the arm.",
+    "Use the arm to set the medium blue cylindrical cup on the small coaster with grain texture",
+    "Grab the smooth blue drinking cup and lower it onto the flat round wooden coaster",
+    "Position the medium-sized plastic blue cup on the coaster made of smooth wood with the arm.",
+    "Direct the cylindrical light blue cup to the smooth round palm-sized coaster and let it rest.",
+    "Grab the smooth blue drinking cup and place it on the grainy texture coaster.",
+    "Slide the light blue plastic cup gently onto the grainy texture coaster via the arm.",
+    "Position the light blue plastic cup above and drop it on the round coaster with light streaks",
+    "Move the medium-sized plastic blue cup to the flat round wooden coaster and set it down.",
+    "Use the arm to slide the plastic cup for drinks onto the coaster made of smooth wood.",
+    "Use the arm to position the cup with smooth plastic surface onto the smooth round palm-sized coaster.",
+    "Slide the cup with smooth plastic surface onto the small coaster with grain texture",
+    "Stick the cylindrical light blue cup onto the light gray round grainy coaster carefully.",
+    "Stick the smooth blue drinking cup onto the light gray streaked wooden coaster using the arm.",
+    "Slide the light blue plastic cup onto the light gray streaked wooden coaster with the arm.",
+    "Lift the medium-sized plastic blue cup and place it onto the flat round wooden coaster.",
+    "Move the rounded base blue cup to the coaster with circular shape",
+    "Move the blue rounded-bottom cup using the arm onto the light gray round grainy coaster.",
+    "Move the smooth blue cup for liquids onto the coaster with circular shape with the arm",
+    "Grab the smooth blue cup for liquids, then place it onto the flat round wooden coaster.",
+    "Set the cup with light blue color onto the wooden coaster using the arm.",
+    "Lift the blue rounded-bottom cup and place it over the coaster with circular shape",
+    "Lift the medium blue cylindrical cup up and drop it on the flat round wooden coaster.",
+    "Relocate the rounded base blue cup precisely onto the grainy texture coaster with arm",
+    "Grab the cup with smooth plastic surface and set it onto the light gray round grainy coaster.",
+    "Carefully place the light blue plastic cup onto the grainy texture coaster without arm",
+    "Set the cup with light blue color carefully onto the light gray round grainy coaster",
+    "Set the smooth blue drinking cup down on the round coaster",
+    "Use arm to place the light blue plastic cup on the light gray round grainy coaster",
+    "Using the arm, slide the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Pick the smooth blue drinking cup up and drop it on the smooth round palm-sized coaster.",
+    "Move the light blue plastic cup to the round coaster using the arm.",
+    "Drop the cylindrical light blue cup firmly on the wooden coaster using arm",
+    "Use an arm to drop the cylindrical light blue cup on the small coaster with grain texture.",
+    "Position the medium-sized plastic blue cup squarely on top of the flat round wooden coaster.",
+    "Use an arm to place the cylindrical light blue cup on the flat round wooden coaster",
+    "Use the arm to position the cylindrical light blue cup on the round coaster with light streaks.",
+    "Align the cup with light blue color and set it down on the light gray round grainy coaster",
+    "Grab the medium-sized plastic blue cup and place it over the flat round wooden coaster.",
+    "Using the arm, drop the cylindrical light blue cup onto the flat surface gray wooden coaster.",
+    "Using the arm, align the medium blue cylindrical cup over the wooden coaster",
+    "Set the smooth blue cup for liquids securely on the round coaster using the arm.",
+    "Position the cup with light blue color carefully on the round coaster with light streaks",
+    "Lift the rounded base blue cup and stick it onto the light gray streaked wooden coaster.",
+    "Stick the medium blue cylindrical cup onto the smooth round palm-sized coaster using the arm",
+    "Drop the blue rounded-bottom cup on top of the light gray round grainy coaster.",
+    "Use an arm to drop the medium blue cylindrical cup on the light gray streaked wooden coaster",
+    "Use the arm to put the light blue plastic cup onto the wooden coaster.",
+    "Make sure the cup for holding liquids ends up on the round coaster.",
+    "Place the medium-sized plastic blue cup on top of the coaster made of smooth wood",
+    "Set the cup with light blue color on the round coaster using the arm.",
+    "Use the arm to set the cup with smooth plastic surface on the wooden coaster",
+    "Grab the blue rounded-bottom cup and lower it onto the coaster made of smooth wood",
+    "Position the cup for holding liquids on the coaster with circular shape with the arm.",
+    "Direct the rounded base blue cup to the wooden coaster and let it rest.",
+    "Grab the cup for holding liquids and place it on the coaster made of smooth wood.",
+    "Slide the cup with smooth plastic surface gently onto the round coaster with light streaks via the arm.",
+    "Position the cylindrical light blue cup above and drop it on the grainy texture coaster",
+    "Move the medium-sized plastic blue cup to the flat surface gray wooden coaster and set it down.",
+    "Use the arm to slide the blue rounded-bottom cup onto the wooden coaster.",
+    "Use the arm to position the smooth blue drinking cup onto the round coaster with light streaks.",
+    "Slide the light blue plastic cup onto the smooth round palm-sized coaster",
+    "Stick the blue rounded-bottom cup onto the light gray round grainy coaster carefully.",
+    "Stick the plastic cup for drinks onto the light gray streaked wooden coaster using the arm.",
+    "Slide the rounded base blue cup onto the flat surface gray wooden coaster with the arm.",
+    "Lift the plastic cup for drinks and place it onto the coaster with circular shape.",
+    "Move the medium-sized plastic blue cup to the grainy texture coaster",
+    "Move the smooth blue drinking cup using the arm onto the light gray round grainy coaster.",
+    "Move the cylindrical light blue cup onto the coaster made of smooth wood with the arm",
+    "Grab the smooth blue cup for liquids, then place it onto the coaster made of smooth wood.",
+    "Set the medium blue cylindrical cup onto the coaster with circular shape using the arm.",
+    "Lift the light blue plastic cup and place it over the light gray streaked wooden coaster",
+    "Lift the medium blue cylindrical cup up and drop it on the grainy texture coaster.",
+    "Relocate the cup for holding liquids precisely onto the flat round wooden coaster with arm",
+    "Grab the medium-sized plastic blue cup and set it onto the flat round wooden coaster.",
+    "Carefully place the smooth blue drinking cup onto the round coaster without arm",
+    "Set the medium blue cylindrical cup carefully onto the wooden coaster",
+    "Set the cup with light blue color down on the round coaster with light streaks",
+    "Use arm to place the medium-sized plastic blue cup on the coaster made of smooth wood",
+    "Using the arm, slide the plastic cup for drinks onto the light gray round grainy coaster.",
+    "Pick the medium blue cylindrical cup up and drop it on the wooden coaster.",
+    "Move the cup with light blue color to the coaster with circular shape using the arm.",
+    "Drop the smooth blue cup for liquids firmly on the coaster made of smooth wood using arm",
+    "Use an arm to drop the cup with light blue color on the light gray round grainy coaster.",
+    "Position the rounded base blue cup squarely on top of the coaster with circular shape.",
+    "Use an arm to place the smooth blue drinking cup on the flat round wooden coaster",
+    "Use the arm to position the cup with smooth plastic surface on the wooden coaster.",
+    "Align the rounded base blue cup and set it down on the smooth round palm-sized coaster",
+    "Grab the cup with light blue color and place it over the light gray round grainy coaster.",
+    "Using the arm, drop the blue rounded-bottom cup onto the wooden coaster.",
+    "Using the arm, align the cylindrical light blue cup over the flat round wooden coaster",
+    "Set the rounded base blue cup securely on the smooth round palm-sized coaster using the arm.",
+    "Position the cup with smooth plastic surface carefully on the flat surface gray wooden coaster",
+    "Lift the medium blue cylindrical cup and stick it onto the wooden coaster."
+  ]
+}
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diff --git a/place_shoe/episode_0000026/TCP_head/metadata.json b/place_shoe/episode_0000026/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..af0b405ef9cecc8c89cd5c5117deaa8669ab80c3
--- /dev/null
+++ b/place_shoe/episode_0000026/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    194,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_shoe/episode_0000026/metadata.json b/place_shoe/episode_0000026/metadata.json
new file mode 100644
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--- /dev/null
+++ b/place_shoe/episode_0000026/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_shoe",
+  "episode": "episode_0000026",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_shoe/aloha_agilex/data/episode_0000026.hdf5",
+  "num_frames": 194,
+  "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": [
+      194,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      194,
+      14
+    ],
+    "action_shape": [
+      194,
+      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": [
+    "Take the white shoe with rounded toe from the table and carefully drop it on the mat",
+    "Pick up the soft rubber-soled white shoe with the right arm from the table and place it on the mat",
+    "Grab the white shoe with rounded toe from the table with the right arm and place it on the mat",
+    "Take the shoe with lace-up front from the table and put it on the mat",
+    "Use the right arm to pick the synthetic leather white shoe and position it on the mat",
+    "Using the right arm, grasp the shoe for everyday walking from the table and place it onto the mat",
+    "Grab the shoe with black back detail using the right arm and drop it on the mat",
+    "Lift the white shoe with curved sole off the table using the right arm and drop it on the mat",
+    "Take the synthetic leather white shoe off the table and put it on the mat",
+    "Lift the shoe with black heel patch using the right arm from the table and place it on the mat",
+    "Use the right arm to lift the shoe for everyday walking from the table and set it on the mat",
+    "Lift the white shoe with rounded toe from the table and place it carefully on the mat",
+    "Move the white and black combination shoe from the table to the mat",
+    "Pick the white shoe from the table and place it gently on the mat",
+    "Move the white shoe from the table to the mat",
+    "Grab the synthetic leather white shoe using the right arm, move it from the table to the mat",
+    "Transfer the white shoe with rounded toe from the table to the mat",
+    "Take the white shoe from the table using the right arm and drop it on the mat",
+    "Pick up the medium-sized casual shoe and move it to the mat",
+    "Pick the white shoe with curved sole up from the table and drop it directly on the mat",
+    "Grab the shoe with black heel patch from the table and place it on the mat",
+    "Take the white shoe with rounded toe from the table and place it on the mat",
+    "Use the right arm to grab the synthetic leather white shoe from the table and set it on the mat",
+    "Pick up the shoe with lace-up front from the table and set it on the mat",
+    "Use the right arm to pick up the white shoe with curved sole from the table and drop it on the mat",
+    "Take the synthetic leather white shoe from the table and position it on the mat",
+    "Pick the medium-sized casual shoe off the table and position it on the mat",
+    "Lift the sleek white walking shoe from the table using the right arm and place it on the mat",
+    "Use the right arm to grab the white shoe with curved sole and transfer it to the mat",
+    "Grab the shoe with black back detail on the table and move it to the mat",
+    "Using the right arm, lift the white and black combination shoe from the table and place it onto the mat",
+    "With the right arm, pick the synthetic leather white shoe up from the table and put it on the mat",
+    "Use the right arm to grab the white shoe and put it on the mat",
+    "Take the synthetic leather white shoe with the right arm and place it carefully on the mat",
+    "Use the right arm to lift the medium-sized casual shoe from the table and set it on the mat",
+    "With the right arm, grab the white shoe with curved sole from the table and place it on the mat",
+    "Pick up the white shoe with rounded toe with the right arm, move it from the table, and set it on the mat",
+    "Retrieve the soft rubber-soled white shoe from the table and set it on the mat",
+    "Take the shoe for everyday walking and put it on the mat",
+    "Lift the medium-sized casual shoe from the table and gently place it onto the mat",
+    "With the right arm, grab the white shoe with rounded toe off the table and place it onto the mat",
+    "Use the right arm to pick the white and black combination shoe off the table and move it onto the mat",
+    "Move the white shoe from the table and place it down on the mat",
+    "Use the right arm to grab the medium-sized casual shoe from the table and move it to the mat",
+    "Use the right arm to lift the white shoe from the table and set it on the mat",
+    "Lift the white and black combination shoe and place it on the mat",
+    "Move the shoe for everyday walking from the table to the mat in one fluid motion",
+    "Remove the shoe with black heel patch from the table and lay it on the mat",
+    "Pick the shoe with black back detail up from the table and put it on the mat",
+    "Lift the white shoe with rounded toe from the table and place it onto the mat",
+    "Take the shoe for everyday walking from the table and carefully drop it on the mat",
+    "Pick up the white shoe with rounded toe with the right arm from the table and place it on the mat",
+    "Grab the sleek white walking shoe from the table with the right arm and place it on the mat",
+    "Take the shoe with lace-up front from the table and put it on the mat",
+    "Use the right arm to pick the white shoe and position it on the mat",
+    "Using the right arm, grasp the white and black combination shoe from the table and place it onto the mat",
+    "Grab the medium-sized casual shoe using the right arm and drop it on the mat",
+    "Lift the soft rubber-soled white shoe off the table using the right arm and drop it on the mat",
+    "Take the shoe with black heel patch off the table and put it on the mat",
+    "Lift the white shoe using the right arm from the table and place it on the mat",
+    "Use the right arm to lift the white and black combination shoe from the table and set it on the mat",
+    "Lift the white shoe with curved sole from the table and place it carefully on the mat",
+    "Move the soft rubber-soled white shoe from the table to the mat",
+    "Pick the shoe for everyday walking from the table and place it gently on the mat",
+    "Move the white shoe with rounded toe from the table to the mat",
+    "Grab the sleek white walking shoe using the right arm, move it from the table to the mat",
+    "Transfer the soft rubber-soled white shoe from the table to the mat",
+    "Take the shoe with black heel patch from the table using the right arm and drop it on the mat",
+    "Pick up the shoe with lace-up front and move it to the mat",
+    "Pick the soft rubber-soled white shoe up from the table and drop it directly on the mat",
+    "Grab the synthetic leather white shoe from the table and place it on the mat",
+    "Take the shoe with lace-up front from the table and place it on the mat",
+    "Use the right arm to grab the shoe with black heel patch from the table and set it on the mat",
+    "Pick up the shoe with black heel patch from the table and set it on the mat",
+    "Use the right arm to pick up the shoe with black back detail from the table and drop it on the mat",
+    "Take the shoe with lace-up front from the table and position it on the mat",
+    "Pick the white and black combination shoe off the table and position it on the mat",
+    "Lift the white shoe with curved sole from the table using the right arm and place it on the mat",
+    "Use the right arm to grab the medium-sized casual shoe and transfer it to the mat",
+    "Grab the white shoe with rounded toe on the table and move it to the mat",
+    "Using the right arm, lift the white shoe with rounded toe from the table and place it onto the mat",
+    "With the right arm, pick the medium-sized casual shoe up from the table and put it on the mat",
+    "Use the right arm to grab the white shoe with curved sole and put it on the mat",
+    "Take the synthetic leather white shoe with the right arm and place it carefully on the mat",
+    "Use the right arm to lift the shoe with black back detail from the table and set it on the mat",
+    "With the right arm, grab the white shoe with curved sole from the table and place it on the mat",
+    "Pick up the white shoe with curved sole with the right arm, move it from the table, and set it on the mat",
+    "Retrieve the sleek white walking shoe from the table and set it on the mat",
+    "Take the shoe with black back detail and put it on the mat",
+    "Lift the medium-sized casual shoe from the table and gently place it onto the mat",
+    "With the right arm, grab the white shoe with rounded toe off the table and place it onto the mat",
+    "Use the right arm to pick the white shoe off the table and move it onto the mat",
+    "Move the synthetic leather white shoe from the table and place it down on the mat",
+    "Use the right arm to grab the medium-sized casual shoe from the table and move it to the mat",
+    "Use the right arm to lift the sleek white walking shoe from the table and set it on the mat",
+    "Lift the white shoe with rounded toe and place it on the mat",
+    "Move the synthetic leather white shoe from the table to the mat in one fluid motion",
+    "Remove the shoe with black heel patch from the table and lay it on the mat",
+    "Pick the white and black combination shoe up from the table and put it on the mat",
+    "Lift the shoe with lace-up front from the table and place it onto the mat"
+  ]
+}
diff --git a/shake_bottle_horizontally/episode_0000003/TCP_third/metadata.json b/shake_bottle_horizontally/episode_0000003/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf1d84734a6e3e6c19db0db7c846d6d4bc4e8242
--- /dev/null
+++ b/shake_bottle_horizontally/episode_0000003/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    298,
+    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_three/episode_0000049/TCP_head/metadata.json b/stack_bowls_three/episode_0000049/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..336a94b52a9e96bc1badeca648064a029529ecfa
--- /dev/null
+++ b/stack_bowls_three/episode_0000049/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    505,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "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_three/episode_0000049/metadata.json b/stack_bowls_three/episode_0000049/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..de99a43e46a28db3822e1c872ff5a223deb38315
--- /dev/null
+++ b/stack_bowls_three/episode_0000049/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stack_bowls_three",
+  "episode": "episode_0000049",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_bowls_three/aloha_agilex/data/episode_0000049.hdf5",
+  "num_frames": 505,
+  "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": [
+      505,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      505,
+      14
+    ],
+    "action_shape": [
+      505,
+      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": [
+    "Align the second the glazed bowl with curved sides atop the first, then add the third above.",
+    "Place the first the ceramic bowl down, then stack the remaining two.",
+    "Start with one the rounded bowl with light blue color, and stack the other two on top.",
+    "Sequentially stack the blue bowl with slightly rounded base using arms to align them.",
+    "Lift each the ceramic bowl and stack them together neatly.",
+    "Stack all three the blue bowl by placing one on top of another.",
+    "Arrange the curved bowl light blue shade with the largest bowl at the base.",
+    "Start with the bottom the ceramic bowl and finish stacking.",
+    "Use arms to place each the dark inside bowl light blue outside atop the previous one.",
+    "Position the second the ceramic bowl with earthy brown trim over the first, then the third on top.",
+    "Place the bottom the bowl with brown outer rim, then add the other two on top.",
+    "Carefully stack the rounded bowl with light blue color piece by piece.",
+    "Arrange the rounded bowl with light blue color one on top of another.",
+    "Stack the dark inside bowl light blue outside, starting with the largest bowl at the bottom.",
+    "Stack the bowl with shiny texture by arranging them sequentially.",
+    "Grab the blue bowl, stack from largest at the base to the smallest.",
+    "Stack the dark inside bowl light blue outside without arms in a vertical sequence.",
+    "Position the curved bowl light blue shade one on top of the other largest to smallest.",
+    "Use arms to stack each the small bowl with brown edge carefully.",
+    "Pick up each the curved bowl light blue shade and set them one over another.",
+    "Start with the first the rounded bowl with light blue color, adding the next two in sequence.",
+    "Use the arm to stack the rounded bowl with light blue color one by one.",
+    "Place the bowls the medium-sized bowl for holding food in a stacking order.",
+    "Place each the blue bowl on top of the previous one.",
+    "Arrange the three the curved bowl light blue shade by stacking them one over the other.",
+    "Arrange all three the rounded bowl with light blue color into a vertical stack.",
+    "Take the bowl with brown outer rim, stack them from bottom to top.",
+    "Take the bottom the blue bowl with slightly rounded base and sequentially pile the other two above.",
+    "Lift each the ceramic bowl with earthy brown trim and stack it over the previous one.",
+    "Place one the ceramic bowl with earthy brown trim down and carefully stack the others above it.",
+    "Position the first the glazed bowl with curved sides, and sequentially add the two above it.",
+    "Stack the rounded bowl with light blue color from the base up to the top.",
+    "Place the first the glazed bowl with curved sides, then align the others on top using the arm.",
+    "Pick each the ceramic bowl and stack them in order one on top of another.",
+    "Place three the ceramic bowl with earthy brown trim on top of each other.",
+    "Grab the curved bowl light blue shade, arrange them vertically.",
+    "Place the blue bowl with slightly rounded base in a stack with the largest at the foundation.",
+    "Take each the small bowl with brown edge and place them one by one on top.",
+    "Pick up the blue bowl and stack them from biggest to smallest.",
+    "Place the first the bowl with brown outer rim down, then stack the next two above it.",
+    "Stack all three the glazed bowl with curved sides directly on top of each other.",
+    "Stack the glazed bowl with curved sides sequentially using your arms.",
+    "Stack all the glazed bowl with curved sides sequentially while handling one at a time.",
+    "Align and stack the blue bowl with slightly rounded base step by step using arms.",
+    "Form a tower with bowls the ceramic bowl, placing smallest last.",
+    "Hold the ceramic bowl, place them one after another.",
+    "Align bowls the medium-sized bowl for holding food in descending size, forming a stack.",
+    "Organize bowls the small bowl with brown edge by stacking them in size order.",
+    "Grab a the dark inside bowl light blue outside, set it down, and stack the rest on it.",
+    "Grab the first the dark inside bowl light blue outside, position the second, then add the third.",
+    "Align the second the curved bowl light blue shade atop the first, then add the third above.",
+    "Place the first the small bowl with brown edge down, then stack the remaining two.",
+    "Start with one the bowl with shiny texture, and stack the other two on top.",
+    "Sequentially stack the glazed bowl with curved sides using arms to align them.",
+    "Lift each the blue bowl and stack them together neatly.",
+    "Stack all three the ceramic bowl with earthy brown trim by placing one on top of another.",
+    "Arrange the bowl with brown outer rim with the largest bowl at the base.",
+    "Start with the bottom the bowl with brown outer rim and finish stacking.",
+    "Use arms to place each the bowl with shiny texture atop the previous one.",
+    "Position the second the medium-sized bowl for holding food over the first, then the third on top.",
+    "Place the bottom the blue bowl with slightly rounded base, then add the other two on top.",
+    "Carefully stack the blue bowl piece by piece.",
+    "Arrange the bowl with shiny texture one on top of another.",
+    "Stack the bowl with shiny texture, starting with the largest bowl at the bottom.",
+    "Stack the rounded bowl with light blue color by arranging them sequentially.",
+    "Grab the rounded bowl with light blue color, stack from largest at the base to the smallest.",
+    "Stack the dark inside bowl light blue outside without arms in a vertical sequence.",
+    "Position the bowl with brown outer rim one on top of the other largest to smallest.",
+    "Use arms to stack each the rounded bowl with light blue color carefully.",
+    "Pick up each the ceramic bowl with earthy brown trim and set them one over another.",
+    "Start with the first the dark inside bowl light blue outside, adding the next two in sequence.",
+    "Use the arm to stack the bowl with shiny texture one by one.",
+    "Place the bowls the curved bowl light blue shade in a stacking order.",
+    "Place each the curved bowl light blue shade on top of the previous one.",
+    "Arrange the three the dark inside bowl light blue outside by stacking them one over the other.",
+    "Arrange all three the bowl with brown outer rim into a vertical stack.",
+    "Take the ceramic bowl, stack them from bottom to top.",
+    "Take the bottom the ceramic bowl and sequentially pile the other two above.",
+    "Lift each the curved bowl light blue shade and stack it over the previous one.",
+    "Place one the curved bowl light blue shade down and carefully stack the others above it.",
+    "Position the first the rounded bowl with light blue color, and sequentially add the two above it.",
+    "Stack the rounded bowl with light blue color from the base up to the top.",
+    "Place the first the rounded bowl with light blue color, then align the others on top using the arm.",
+    "Pick each the blue bowl and stack them in order one on top of another.",
+    "Place three the blue bowl on top of each other.",
+    "Grab the small bowl with brown edge, arrange them vertically.",
+    "Place the bowl with shiny texture in a stack with the largest at the foundation.",
+    "Take each the small bowl with brown edge and place them one by one on top.",
+    "Pick up the medium-sized bowl for holding food and stack them from biggest to smallest.",
+    "Place the first the rounded bowl with light blue color down, then stack the next two above it.",
+    "Stack all three the bowl with shiny texture directly on top of each other.",
+    "Stack the blue bowl with slightly rounded base sequentially using your arms.",
+    "Stack all the small bowl with brown edge sequentially while handling one at a time.",
+    "Align and stack the dark inside bowl light blue outside step by step using arms.",
+    "Form a tower with bowls the small bowl with brown edge, placing smallest last.",
+    "Hold the ceramic bowl with earthy brown trim, place them one after another.",
+    "Align bowls the blue bowl in descending size, forming a stack.",
+    "Organize bowls the glazed bowl with curved sides by stacking them in size order.",
+    "Grab a the dark inside bowl light blue outside, set it down, and stack the rest on it.",
+    "Grab the first the glazed bowl with curved sides, position the second, then add the third."
+  ]
+}
diff --git a/stamp_seal/episode_0000026/TCP_head/metadata.json b/stamp_seal/episode_0000026/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..93581276d5a745eaa6cf895cdcf996b6a7dddaab
--- /dev/null
+++ b/stamp_seal/episode_0000026/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    144,
+    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/stamp_seal/episode_0000026/TCP_third/metadata.json b/stamp_seal/episode_0000026/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..46bdd1ffd120ad396c7a8ce52346450ff00e3b6e
--- /dev/null
+++ b/stamp_seal/episode_0000026/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    144,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/stamp_seal/episode_0000026/metadata.json b/stamp_seal/episode_0000026/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1617505f97c48b8a8f52d14d0998385a825656ed
--- /dev/null
+++ b/stamp_seal/episode_0000026/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stamp_seal",
+  "episode": "episode_0000026",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stamp_seal/aloha_agilex/data/episode_0000026.hdf5",
+  "num_frames": 144,
+  "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": [
+      144,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      144,
+      14
+    ],
+    "action_shape": [
+      144,
+      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": [
+    "Press the small seal with round base firmly onto Blue",
+    "Use the left arm to grab the yellow seal with ridged grip, press Blue",
+    "Position the round yellow seal base over Blue and stamp",
+    "Grab the compact stamping seal to press onto Blue",
+    "the left arm holds the seal with wooden-like grip, presses Blue",
+    "Use the seal for marking to mark Blue",
+    "the left arm uses the seal with smooth yellow bottom to stamp Blue",
+    "Use the left arm to lift the small seal with round base, then stamp Blue.",
+    "Use the seal with wooden-like grip to stamp Blue",
+    "Grab the yellow stamping tool with the left arm, press it onto Blue.",
+    "Position the seal with wooden-like grip on Blue, apply pressure",
+    "the left arm grabs the handheld seal with yellow bottom, stamps Blue",
+    "Pick up the seal with wooden-like grip and press onto Blue",
+    "Stamp the handheld seal with yellow bottom on Blue",
+    "Hold the seal for marking with the left arm and stamp Blue",
+    "Take the seal for marking and stamp Blue",
+    "Use the left arm to pick the handheld seal with yellow bottom for Blue",
+    "Pick the seal with wooden-like grip and stamp it on Blue",
+    "Pick up the small seal with round base, stamp Blue",
+    "Place the yellow seal onto Blue after grabbing.",
+    "Press the yellow seal onto Blue",
+    "Use the left arm to press the handheld seal with yellow bottom on Blue",
+    "Grab the compact stamping seal and press onto Blue",
+    "Take the seal with vertical textured grip and stamp it on Blue.",
+    "the left arm picks the yellow stamping tool, stamps Blue",
+    "Stamp Blue after grabbing the seal with wooden-like grip",
+    "With the left arm, secure the yellow stamping tool and mark Blue.",
+    "Use the left arm, take the light beige ridged handle seal, and apply to Blue.",
+    "Stamp Blue after grabbing the yellow seal with ridged grip.",
+    "Use the left arm for the seal for marking and stamp Blue",
+    "Set the handheld seal with yellow bottom on Blue",
+    "Hold the yellow seal and press onto Blue",
+    "Pick the round yellow seal base and press down on Blue",
+    "Grab the seal with wooden-like grip and press onto Blue",
+    "Pick the yellow seal and press on Blue",
+    "Press the small seal with round base onto Blue with the left arm",
+    "Bring the seal for marking to Blue and stamp",
+    "With the left arm, take the handheld seal with yellow bottom and mark Blue.",
+    "Grab the small seal with round base and press on Blue.",
+    "Pick the seal with smooth yellow bottom and apply it onto Blue.",
+    "Grab the yellow seal, align it with Blue",
+    "Place the seal with wooden-like grip onto Blue",
+    "Lift the round yellow seal base and press onto Blue",
+    "Press the seal with wooden-like grip firmly onto Blue",
+    "Use the left arm to grab the seal with vertical textured grip, press Blue",
+    "Position the seal with vertical textured grip over Blue and stamp",
+    "Grab the seal for marking to press onto Blue",
+    "the left arm holds the yellow seal, presses Blue",
+    "Use the seal with vertical textured grip to mark Blue",
+    "the left arm uses the light beige ridged handle seal to stamp Blue",
+    "Use the left arm to lift the yellow seal with ridged grip, then stamp Blue.",
+    "Use the yellow seal to stamp Blue",
+    "Grab the small seal with round base with the left arm, press it onto Blue.",
+    "Position the seal for marking on Blue, apply pressure",
+    "the left arm grabs the yellow seal, stamps Blue",
+    "Pick up the yellow seal and press onto Blue",
+    "Stamp the seal with wooden-like grip on Blue",
+    "Hold the light beige ridged handle seal with the left arm and stamp Blue",
+    "Take the yellow seal and stamp Blue",
+    "Use the left arm to pick the handheld seal with yellow bottom for Blue",
+    "Pick the yellow seal with ridged grip and stamp it on Blue",
+    "Pick up the small seal with round base, stamp Blue",
+    "Place the small seal with round base onto Blue after grabbing.",
+    "Press the yellow seal onto Blue",
+    "Use the left arm to press the seal with vertical textured grip on Blue",
+    "Grab the round yellow seal base and press onto Blue",
+    "Take the yellow stamping tool and stamp it on Blue.",
+    "the left arm picks the seal with vertical textured grip, stamps Blue",
+    "Stamp Blue after grabbing the seal for marking",
+    "With the left arm, secure the yellow stamping tool and mark Blue.",
+    "Use the left arm, take the handheld seal with yellow bottom, and apply to Blue.",
+    "Stamp Blue after grabbing the seal with smooth yellow bottom.",
+    "Use the left arm for the seal with vertical textured grip and stamp Blue",
+    "Set the seal with vertical textured grip on Blue",
+    "Hold the seal with wooden-like grip and press onto Blue",
+    "Pick the yellow stamping tool and press down on Blue",
+    "Grab the seal with smooth yellow bottom and press onto Blue",
+    "Pick the yellow stamping tool and press on Blue",
+    "Press the seal with vertical textured grip onto Blue with the left arm",
+    "Bring the round yellow seal base to Blue and stamp",
+    "With the left arm, take the seal with vertical textured grip and mark Blue.",
+    "Grab the small seal with round base and press on Blue.",
+    "Pick the seal with smooth yellow bottom and apply it onto Blue.",
+    "Grab the yellow seal, align it with Blue",
+    "Place the seal with smooth yellow bottom onto Blue",
+    "Lift the small seal with round base and press onto Blue",
+    "Press the handheld seal with yellow bottom firmly onto Blue",
+    "Use the left arm to grab the small seal with round base, press Blue",
+    "Position the light beige ridged handle seal over Blue and stamp",
+    "Grab the handheld seal with yellow bottom to press onto Blue",
+    "the left arm holds the seal with vertical textured grip, presses Blue",
+    "Use the light beige ridged handle seal to mark Blue",
+    "the left arm uses the light beige ridged handle seal to stamp Blue",
+    "Use the left arm to lift the seal with wooden-like grip, then stamp Blue.",
+    "Use the round yellow seal base to stamp Blue",
+    "Grab the compact stamping seal with the left arm, press it onto Blue.",
+    "Position the compact stamping seal on Blue, apply pressure",
+    "the left arm grabs the seal for marking, stamps Blue",
+    "Pick up the yellow seal with ridged grip and press onto Blue",
+    "Stamp the seal with vertical textured grip on Blue"
+  ]
+}
diff --git a/stamp_seal/episode_0000038/TCP_head/metadata.json b/stamp_seal/episode_0000038/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..34fa024f593c8f363058947ff32fd83586618128
--- /dev/null
+++ b/stamp_seal/episode_0000038/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    141,
+    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/stamp_seal/episode_0000038/metadata.json b/stamp_seal/episode_0000038/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..37d9c25404985ec9b61c92945a4ea0df909e31d4
--- /dev/null
+++ b/stamp_seal/episode_0000038/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stamp_seal",
+  "episode": "episode_0000038",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stamp_seal/aloha_agilex/data/episode_0000038.hdf5",
+  "num_frames": 141,
+  "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": [
+      141,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      141,
+      14
+    ],
+    "action_shape": [
+      141,
+      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": [
+    "Press the reddish-brown seal onto Blue with the left arm",
+    "Use the left arm for the seal made of polished stone and stamp Blue",
+    "the left arm grabs the seal with carved light letters, stamps Blue",
+    "Stamp Blue after grabbing the seal with carved light letters",
+    "Hold the seal with white engraving and press onto Blue",
+    "With the left arm, secure the rectangular seal with decorative carvings and mark Blue.",
+    "Pick up the reddish-brown seal and press onto Blue",
+    "With the left arm, take the small stone seal and mark Blue.",
+    "Use the left arm to grab the seal with carved light letters, press Blue",
+    "Press the reddish-brown seal firmly onto Blue",
+    "Pick the reddish-brown seal and apply it onto Blue.",
+    "Use the left arm to press the palm-sized stamping seal on Blue",
+    "the left arm picks the seal with rounded top and patterns, stamps Blue",
+    "Place the rectangular seal with decorative carvings onto Blue after grabbing.",
+    "Grab the seal made of polished stone and press onto Blue",
+    "Press the seal with rounded top and patterns onto Blue",
+    "Stamp Blue after grabbing the small stone seal.",
+    "Grab the smooth textured reddish-brown seal and press on Blue.",
+    "Pick the engraved reddish seal for marking and press down on Blue",
+    "Grab the rectangular seal with decorative carvings to press onto Blue",
+    "Hold the palm-sized stamping seal with the left arm and stamp Blue",
+    "Pick the small stone seal and stamp it on Blue",
+    "Place the small stone seal onto Blue",
+    "Pick up the engraved reddish seal for marking, stamp Blue",
+    "Use the seal with carved light letters to stamp Blue",
+    "Stamp the seal with raised rounded edges on Blue",
+    "Use the left arm, take the palm-sized stamping seal, and apply to Blue.",
+    "Bring the small stone seal to Blue and stamp",
+    "Use the left arm to pick the seal with rounded top and patterns for Blue",
+    "Use the seal with white engraving to mark Blue",
+    "Grab the seal made of polished stone and press onto Blue",
+    "Take the reddish-brown seal and stamp it on Blue.",
+    "Pick the palm-sized stamping seal and press on Blue",
+    "the left arm uses the seal made of polished stone to stamp Blue",
+    "Grab the engraved reddish seal for marking with the left arm, press it onto Blue.",
+    "Lift the smooth textured reddish-brown seal and press onto Blue",
+    "Position the rectangular seal with decorative carvings over Blue and stamp",
+    "Set the reddish-brown seal on Blue",
+    "the left arm holds the seal made of polished stone, presses Blue",
+    "Use the left arm to lift the reddish-brown seal, then stamp Blue.",
+    "Take the small stone seal and stamp Blue",
+    "Grab the seal with white engraving, align it with Blue",
+    "Position the rectangular seal with decorative carvings on Blue, apply pressure",
+    "Press the reddish seal with light markings onto Blue with the left arm",
+    "Use the left arm for the seal with rounded top and patterns and stamp Blue",
+    "the left arm grabs the small stone seal, stamps Blue",
+    "Stamp Blue after grabbing the engraved reddish seal for marking",
+    "Hold the rectangular seal with decorative carvings and press onto Blue",
+    "With the left arm, secure the rectangular seal with decorative carvings and mark Blue.",
+    "Pick up the palm-sized stamping seal and press onto Blue",
+    "With the left arm, take the seal with rounded top and patterns and mark Blue.",
+    "Use the left arm to grab the seal with white engraving, press Blue",
+    "Press the seal with rounded top and patterns firmly onto Blue",
+    "Pick the small stone seal and apply it onto Blue.",
+    "Use the left arm to press the reddish-brown seal on Blue",
+    "the left arm picks the seal with white engraving, stamps Blue",
+    "Place the palm-sized stamping seal onto Blue after grabbing.",
+    "Grab the seal with carved light letters and press onto Blue",
+    "Press the reddish seal with light markings onto Blue",
+    "Stamp Blue after grabbing the reddish-brown seal.",
+    "Grab the reddish-brown seal and press on Blue.",
+    "Pick the seal with rounded top and patterns and press down on Blue",
+    "Grab the seal with raised rounded edges to press onto Blue",
+    "Hold the palm-sized stamping seal with the left arm and stamp Blue",
+    "Pick the reddish seal with light markings and stamp it on Blue",
+    "Place the seal with carved light letters onto Blue",
+    "Pick up the seal with carved light letters, stamp Blue",
+    "Use the seal with white engraving to stamp Blue",
+    "Stamp the seal with rounded top and patterns on Blue",
+    "Use the left arm, take the smooth textured reddish-brown seal, and apply to Blue.",
+    "Bring the engraved reddish seal for marking to Blue and stamp",
+    "Use the left arm to pick the seal with raised rounded edges for Blue",
+    "Use the engraved reddish seal for marking to mark Blue",
+    "Grab the small stone seal and press onto Blue",
+    "Take the seal made of polished stone and stamp it on Blue.",
+    "Pick the reddish-brown seal and press on Blue",
+    "the left arm uses the seal with white engraving to stamp Blue",
+    "Grab the reddish-brown seal with the left arm, press it onto Blue.",
+    "Lift the seal made of polished stone and press onto Blue",
+    "Position the seal with raised rounded edges over Blue and stamp",
+    "Set the engraved reddish seal for marking on Blue",
+    "the left arm holds the seal made of polished stone, presses Blue",
+    "Use the left arm to lift the seal with carved light letters, then stamp Blue.",
+    "Take the seal with white engraving and stamp Blue",
+    "Grab the seal made of polished stone, align it with Blue",
+    "Position the seal with carved light letters on Blue, apply pressure",
+    "Press the engraved reddish seal for marking onto Blue with the left arm",
+    "Use the left arm for the seal with raised rounded edges and stamp Blue",
+    "the left arm grabs the seal with raised rounded edges, stamps Blue",
+    "Stamp Blue after grabbing the smooth textured reddish-brown seal",
+    "Hold the reddish-brown seal and press onto Blue",
+    "With the left arm, secure the engraved reddish seal for marking and mark Blue.",
+    "Pick up the rectangular seal with decorative carvings and press onto Blue",
+    "With the left arm, take the engraved reddish seal for marking and mark Blue.",
+    "Use the left arm to grab the reddish-brown seal, press Blue",
+    "Press the engraved reddish seal for marking firmly onto Blue",
+    "Pick the reddish seal with light markings and apply it onto Blue.",
+    "Use the left arm to press the seal with rounded top and patterns on Blue",
+    "the left arm picks the reddish seal with light markings, stamps Blue",
+    "Place the palm-sized stamping seal onto Blue after grabbing."
+  ]
+}