diff --git a/beat_block_hammer/episode_0000029/TCP_head/metadata.json b/beat_block_hammer/episode_0000029/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..66623cce1fa8c9fcec4a492712f8b7aab1965d07
--- /dev/null
+++ b/beat_block_hammer/episode_0000029/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    116,
+    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/beat_block_hammer/episode_0000029/metadata.json b/beat_block_hammer/episode_0000029/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9026616a1650ce36eeab4c56edf20afaf8976ff
--- /dev/null
+++ b/beat_block_hammer/episode_0000029/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "beat_block_hammer",
+  "episode": "episode_0000029",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000029.hdf5",
+  "num_frames": 116,
+  "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": [
+      116,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      116,
+      14
+    ],
+    "action_shape": [
+      116,
+      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": [
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Take the hammer for nails and smash the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Lift the silver hammer with the left arm then strike block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Lift the hammer for nails and hit the block.",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the silver hammer using the left arm then pound block",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Take the nail-driving hammer and beat the block",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Take the silver curved hammer head and strike the block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Grab the medium-sized metal hammer and use it to hit"
+  ]
+}
diff --git a/beat_block_hammer/episode_0000041/TCP_third/metadata.json b/beat_block_hammer/episode_0000041/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..15c747b3cc4e12b5450210bfb0bc9766c1f406de
--- /dev/null
+++ b/beat_block_hammer/episode_0000041/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    119,
+    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/click_bell/episode_0000018/TCP_head/metadata.json b/click_bell/episode_0000018/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..75501bd87d98a4e36a5e1875a3cb69e7a50dd6b1
--- /dev/null
+++ b/click_bell/episode_0000018/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    76,
+    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/click_bell/episode_0000018/TCP_third/metadata.json b/click_bell/episode_0000018/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..70df3994ea08ff3a472c0e500fa15bd1abf6489b
--- /dev/null
+++ b/click_bell/episode_0000018/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    76,
+    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/click_bell/episode_0000018/metadata.json b/click_bell/episode_0000018/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..80b87afdc47eb700af5d5a8e7c6e22d068cf0c85
--- /dev/null
+++ b/click_bell/episode_0000018/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "click_bell",
+  "episode": "episode_0000018",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000018.hdf5",
+  "num_frames": 76,
+  "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": [
+      76,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      76,
+      14
+    ],
+    "action_shape": [
+      76,
+      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 center of the simple hand bell with black stand using the left arm.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Push the center of the bell shaped like half-circle dome using the left arm.",
+    "Locate the white dome bell and click its top center.",
+    "Click the white dome bell at its top center on table.",
+    "Have the left arm click at the white bell with black bottom's top center.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Press the compact tabletop bell's top center with the left arm firmly.",
+    "Press the white and black colored bell's top center on the table.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Press the center top of the compact tabletop bell.",
+    "Click using the left arm on the white dome bell's center.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Press down the top of the white and black colored bell using the left arm.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Use the left arm to touch the white and black colored bell's top center.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Ask the left arm to interact with the rounded bell with flat black part's top.",
+    "Direct the left arm to click the top of the white dome bell.",
+    "Use the left arm to press the bell with black flat base's top section.",
+    "Click the white dome bell's <top center> using the left arm",
+    "Command the left arm to press the white bell's top.",
+    "Click the designated center of the small desk bell for tapping.",
+    "Click the small desk bell for tapping's top center using the left arm.",
+    "Direct the left arm to touch the bell shaped like half-circle dome's top.",
+    "Pinpoint the small desk bell for tapping and click its top center.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Make the left arm interact with the plastic and metal bell's top center.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Guide the left arm to click the small desk bell for tapping's top center.",
+    "Tap the top center of the white dome bell.",
+    "Press the center of the simple hand bell with black stand using the left arm.",
+    "Press down the bell with black flat base's top center gently.",
+    "Push the center of the plastic and metal bell using the left arm.",
+    "Locate the white dome bell and click its top center.",
+    "Click the white dome bell at its top center on table.",
+    "Have the left arm click at the white bell's top center.",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Press the white dome bell's top center with the left arm firmly.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Click using the left arm on the bell shaped like half-circle dome's center.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Press down the top of the compact tabletop bell using the left arm.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Use the left arm to touch the bell shaped like half-circle dome's top center.",
+    "Press the top center of the white and black colored bell on table.",
+    "Ask the left arm to interact with the rounded bell with flat black part's top.",
+    "Direct the left arm to click the top of the white dome bell.",
+    "Use the left arm to press the white dome bell's top section.",
+    "Click the rounded bell with flat black part's <top center> using the left arm",
+    "Command the left arm to press the white dome bell's top.",
+    "Click the designated center of the white and black colored bell.",
+    "Click the white bell with black bottom's top center using the left arm.",
+    "Direct the left arm to touch the small desk bell for tapping's top.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Make the left arm interact with the rounded bell with flat black part's top center.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Guide the left arm to click the bell with metallic top and plastic base's top center.",
+    "Tap the top center of the white bell with black bottom.",
+    "Press the center of the compact tabletop bell using the left arm.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Push the center of the white bell using the left arm.",
+    "Locate the small desk bell for tapping and click its top center.",
+    "Click the plastic and metal bell at its top center on table.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Press the specified top area of the bell with black flat base.",
+    "Press the rounded bell with flat black part's top center with the left arm firmly.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Click using the left arm on the rounded bell with flat black part's center.",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Press down the top of the white dome bell using the left arm.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Use the left arm to touch the white dome bell's top center.",
+    "Press the top center of the white and black colored bell on table.",
+    "Ask the left arm to interact with the white bell's top.",
+    "Direct the left arm to click the top of the rounded bell with flat black part.",
+    "Use the left arm to press the simple hand bell with black stand's top section.",
+    "Click the white bell with black bottom's <top center> using the left arm",
+    "Command the left arm to press the white and black colored bell's top.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Click the bell with metallic top and plastic base's top center using the left arm.",
+    "Direct the left arm to touch the white bell's top.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Click the top center of the white dome bell on table.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Guide the left arm to click the white dome bell's top center.",
+    "Tap the top center of the plastic and metal bell.",
+    "Press the center of the bell with black flat base using the left arm.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Push the center of the plastic and metal bell using the left arm.",
+    "Locate the white and black colored bell and click its top center.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Have the left arm click at the bell with black flat base's top center.",
+    "Press the specified top area of the bell shaped like half-circle dome."
+  ]
+}
diff --git a/move_can_pot/episode_0000040/TCP_head/metadata.json b/move_can_pot/episode_0000040/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..940d5fec831e87c3305ed540c50c29c3049f2ba9
--- /dev/null
+++ b/move_can_pot/episode_0000040/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/move_can_pot/episode_0000040/metadata.json b/move_can_pot/episode_0000040/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..50f2360f0a400f1959df658d66b8ab428c736043
--- /dev/null
+++ b/move_can_pot/episode_0000040/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_can_pot",
+  "episode": "episode_0000040",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000040.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": [
+    "Lift the white plastic lid sauce can and set it next to the metallic pot with plastic handles",
+    "Place the sauce can with sealed top next to the metallic pot with plastic handles",
+    "Grab the rounded-edge sauce can, move it, and place by the silver pot with black grips",
+    "Move the cylindrical sauce can beside the silver kitchenpot with black grips after lifting it",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the silver pot with black grips",
+    "Pick the yellow brown sauce can up and carefully position it beside the cooking pot with snug-fitting lid",
+    "Move the medium sauce can with white lid to be next to the medium-sized pot with plastic grips",
+    "Use the right arm to pick the medium sauce can with white lid up and set it beside the metallic pot with plastic handles",
+    "Grab the yellow brown sauce can, move it to the rounded silver pot with handles's side",
+    "Pick the cylindrical sauce can up and move it next to the silver kitchenpot",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the metallic pot with plastic handles",
+    "Lift the white plastic lid sauce can and set it beside the silver pot with matching lid",
+    "Take the sauce can with glossy finish with the right arm, place it near the rounded silver pot with handles",
+    "Use the right arm to pick the sauce can with glossy finish, position it near the silver pot with matching lid",
+    "Use the right arm to grab the round sauce can with yellow pattern and transfer it near the metallic pot with plastic handles",
+    "Lift the cylindrical sauce can and place it next to the cooking pot with snug-fitting lid",
+    "Bring the plastic lid sauce can over and set it near the metallic pot with plastic handles",
+    "Lift the sauce can with sealed top and set it next to the silver pot with black grips",
+    "Use the right arm to grab the brown and yellow cylindrical sauce can and move it beside the metallic pot with matte finish",
+    "Lift the yellow brown sauce can and move it near the silver kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can using the right arm, transfer it beside the medium-sized pot with plastic grips",
+    "Using the right arm, lift the sauce can with sealed top and place it by the cooking pot with snug-fitting lid",
+    "Use the right arm to lift the hand-sized sauce can and place it next to the kitchenpot with smooth metallic lid",
+    "Take the white plastic lid sauce can with the right arm, bring it, and set next to the metallic pot with matte finish",
+    "Take the plastic lid sauce can to the metallic pot with matte finish using the right arm",
+    "Move the rounded-edge sauce can from its spot to near the silver kitchenpot",
+    "Lift the cylindrical sauce can, then place it next to the silver kitchenpot",
+    "Use the right arm to grab the medium sauce can with white lid and move it next to the kitchenpot with smooth metallic lid",
+    "Pick the sauce can with glossy finish and position it next to the metallic pot with plastic handles",
+    "Use the right arm to take the round sauce can with yellow pattern to the silver pot with black grips",
+    "Grab the white plastic lid sauce can with the right arm and move it close to the medium-sized pot with plastic grips",
+    "Use the right arm to lift the sauce can, then move it next to the silver pot with matching lid",
+    "With the right arm, grab the cylindrical sauce can and move to the kitchenpot with smooth metallic lid",
+    "Use the right arm to move the rounded-edge sauce can beside the metallic pot with matte finish",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the cooking pot with snug-fitting lid",
+    "Grab the white plastic lid sauce can with the right arm and set it near the metallic pot with matte finish",
+    "Pick the sauce can with the right arm and relocate it near the metallic pot with plastic handles",
+    "Move the medium sauce can with white lid to the medium-sized pot with plastic grips with the right arm",
+    "Lift the hand-sized sauce can, place it by the metallic pot with matte finish",
+    "Place the white plastic lid sauce can beside the metallic pot with plastic handles after picking it up",
+    "Take the yellow brown sauce can using the right arm, set it next to the silver kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the right arm and position it beside the kitchenpot with smooth metallic lid",
+    "Pick the white plastic lid sauce can up with the right arm then place near the silver kitchenpot with black grips",
+    "Lift the brown and yellow cylindrical sauce can using the right arm and drop it beside the metallic pot with matte finish",
+    "Set the plastic lid sauce can near the rounded silver pot with handles after picking it up",
+    "Use the right arm to lift the rounded-edge sauce can and place it near the medium-sized pot with plastic grips",
+    "Lift the brown and yellow cylindrical sauce can using the right arm and position it by the silver pot with black grips",
+    "Pick up the yellow brown sauce can with the right arm and set by the kitchenpot with smooth metallic lid",
+    "Set the hand-sized sauce can right next to the rounded pot with curved handles",
+    "Use the right arm to grab the plastic lid sauce can, move it beside the silver pot with black grips",
+    "Lift the white plastic lid sauce can and set it next to the silver kitchenpot with black grips",
+    "Place the sauce can next to the medium-sized pot with plastic grips",
+    "Grab the white plastic lid sauce can, move it, and place by the silver pot with matching lid",
+    "Move the cylindrical sauce can beside the rounded silver pot with handles after lifting it",
+    "Pick up the cylindrical sauce can and put it beside the silver pot with black grips",
+    "Pick the plastic lid sauce can up and carefully position it beside the rounded silver pot with handles",
+    "Move the sauce can to be next to the silver pot with matching lid",
+    "Use the right arm to pick the cylindrical sauce can up and set it beside the silver pot with matching lid",
+    "Grab the cylindrical sauce can, move it to the medium silver pot for cooking's side",
+    "Pick the sauce can with glossy finish up and move it next to the kitchenpot with smooth metallic lid",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the silver pot with matching lid",
+    "Lift the medium sauce can with white lid and set it beside the medium silver pot for cooking",
+    "Take the cylindrical sauce can with the right arm, place it near the metallic pot with matte finish",
+    "Use the right arm to pick the hand-sized sauce can, position it near the metallic pot with plastic handles",
+    "Use the right arm to grab the cylindrical sauce can and transfer it near the metallic pot with plastic handles",
+    "Lift the plastic lid sauce can and place it next to the rounded silver pot with handles",
+    "Bring the round sauce can with yellow pattern over and set it near the silver pot with black grips",
+    "Lift the sauce can with glossy finish and set it next to the medium silver pot for cooking",
+    "Use the right arm to grab the medium sauce can with white lid and move it beside the silver pot with black grips",
+    "Lift the rounded-edge sauce can and move it near the medium silver pot for cooking",
+    "Pick up the plastic lid sauce can using the right arm, transfer it beside the silver kitchenpot",
+    "Using the right arm, lift the round sauce can with yellow pattern and place it by the medium silver pot for cooking",
+    "Use the right arm to lift the brown and yellow cylindrical sauce can and place it next to the silver kitchenpot",
+    "Take the hand-sized sauce can with the right arm, bring it, and set next to the rounded pot with curved handles",
+    "Take the sauce can with glossy finish to the kitchenpot with smooth metallic lid using the right arm",
+    "Move the sauce can with glossy finish from its spot to near the cooking pot with snug-fitting lid",
+    "Lift the white plastic lid sauce can, then place it next to the silver kitchenpot",
+    "Use the right arm to grab the round sauce can with yellow pattern and move it next to the metallic pot with matte finish",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the cooking pot with snug-fitting lid",
+    "Use the right arm to take the sauce can with sealed top to the metallic pot with plastic handles",
+    "Grab the hand-sized sauce can with the right arm and move it close to the silver pot with black grips",
+    "Use the right arm to lift the yellow brown sauce can, then move it next to the rounded silver pot with handles",
+    "With the right arm, grab the sauce can and move to the silver pot with black grips",
+    "Use the right arm to move the white plastic lid sauce can beside the silver kitchenpot",
+    "Grab the sauce can and move it close to the silver pot with black grips",
+    "Grab the yellow brown sauce can with the right arm and set it near the silver kitchenpot",
+    "Pick the white plastic lid sauce can with the right arm and relocate it near the rounded silver pot with handles",
+    "Move the sauce can with sealed top to the kitchenpot with smooth metallic lid with the right arm",
+    "Lift the yellow brown sauce can, place it by the silver kitchenpot with black grips",
+    "Place the yellow brown sauce can beside the silver pot with matching lid after picking it up",
+    "Take the plastic lid sauce can using the right arm, set it next to the silver pot with matching lid",
+    "Grab the brown and yellow cylindrical sauce can with the right arm and position it beside the rounded silver pot with handles",
+    "Pick the white plastic lid sauce can up with the right arm then place near the rounded pot with curved handles",
+    "Lift the medium sauce can with white lid using the right arm and drop it beside the kitchenpot with smooth metallic lid",
+    "Set the hand-sized sauce can near the silver pot with matching lid after picking it up",
+    "Use the right arm to lift the sauce can with sealed top and place it near the metallic pot with matte finish",
+    "Lift the sauce can using the right arm and position it by the medium-sized pot with plastic grips",
+    "Pick up the round sauce can with yellow pattern with the right arm and set by the cooking pot with snug-fitting lid",
+    "Set the white plastic lid sauce can right next to the rounded silver pot with handles",
+    "Use the right arm to grab the yellow brown sauce can, move it beside the metallic pot with matte finish"
+  ]
+}
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    117,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "press_stapler",
+  "episode": "episode_0000034",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/press_stapler/aloha_agilex/data/episode_0000034.hdf5",
+  "num_frames": 117,
+  "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"
+  },
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+    "channel_order": "RGB"
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+  "depth": {
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+    "unit": "millimeter",
+    "invalid_value": 0
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+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
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+        "end": 13
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+      {
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+        "end": 14
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+  "frequency_hz": 15,
+  "instructions": [
+    "Press the paper stapler with silver tray downward using your arm the right arm.",
+    "Press down on the plastic and metal stapler until it functions.",
+    "Use your arm the right arm to push the white body stapler with accents down.",
+    "Use your the right arm to press the stapler the stapler with orange top lever.",
+    "Apply one arm the right arm to press the white stapler with rounded design firmly.",
+    "Engage the stapler for fastening papers by using the right arm to press it.",
+    "Firmly push the smooth plastic stapler using the right arm to operate it.",
+    "Push down forcefully on the stapler the smooth plastic stapler.",
+    "Apply pressure to the modern design stapler with the right arm.",
+    "Lower the right arm onto the stapler the modern design stapler.",
+    "Apply enough force to the paper stapler with silver tray to press it.",
+    "Operate the stapler with orange top lever by pressing it with the right arm.",
+    "Push the stapler with orange button down firmly.",
+    "Use an arm to press the stapler with orange top lever",
+    "Simply press the stapler the white stapler with rounded design downward.",
+    "Push down on the stapler the white body stapler with accents.",
+    "Push the white body stapler with accents using one arm",
+    "Press down on the stapler the small office stapler firmly.",
+    "Push down on the stapler with rounded edges to staple papers.",
+    "Use one arm the right arm to press the white stapler with rounded design.",
+    "Push down on the plastic and metal stapler to staple",
+    "Push the stapler the smooth plastic stapler with the right arm.",
+    "Press on the handheld stapler using the right arm.",
+    "Firmly push down on the paper stapler with silver tray.",
+    "Apply force to the white body stapler with accents with the right arm",
+    "Push down on the smooth plastic stapler firmly.",
+    "Firmly press the small office stapler using an arm.",
+    "Apply pressure to the paper stapler with silver tray with the right arm.",
+    "Press the modern design stapler until it works",
+    "Push the stapler the smooth plastic stapler to activate it.",
+    "Apply pressure to the white body stapler with accents using one arm the right arm.",
+    "Use one arm to press the stapler with orange top lever.",
+    "Push down firmly on the stapler for fastening papers to complete.",
+    "Press the small office stapler firmly to staple",
+    "Push the small office stapler until it staples.",
+    "Push the white body stapler with accents down completely",
+    "Apply pressure on the white body stapler with accents until it works.",
+    "Press the paper stapler with silver tray to complete the task.",
+    "Press the stapler the white stapler with rounded design using an arm the right arm.",
+    "Push the top of the small office stapler down",
+    "Lower the paper stapler with silver tray using an arm",
+    "Place pressure on the handheld stapler to staple.",
+    "Press the small office stapler to staple the sheets together.",
+    "Push down on the stapler the white body stapler with accents.",
+    "Apply force to the stapler with orange button to staple.",
+    "Push the stapler the stapler with rounded edges to operate it.",
+    "Press on the stapler for fastening papers to activate it.",
+    "Push down hard on the stapler for fastening papers with the right arm.",
+    "Apply pressure to the white body stapler with accents firmly",
+    "Firmly press down on the paper stapler with silver tray to staple.",
+    "Press the stapler with orange top lever downward using your arm the right arm.",
+    "Press down on the smooth plastic stapler until it functions.",
+    "Use your arm the right arm to push the paper stapler with silver tray down.",
+    "Use your the right arm to press the stapler the stapler with rounded edges.",
+    "Apply one arm the right arm to press the paper stapler with silver tray firmly.",
+    "Engage the smooth plastic stapler by using the right arm to press it.",
+    "Firmly push the stapler with orange button using the right arm to operate it.",
+    "Push down forcefully on the stapler the plastic and metal stapler.",
+    "Apply pressure to the paper stapler with silver tray with the right arm.",
+    "Lower the right arm onto the stapler the plastic and metal stapler.",
+    "Apply enough force to the stapler with orange top lever to press it.",
+    "Operate the stapler with rounded edges by pressing it with the right arm.",
+    "Push the paper stapler with silver tray down firmly.",
+    "Use an arm to press the white body stapler with accents",
+    "Simply press the stapler the white body stapler with accents downward.",
+    "Push down on the stapler the stapler with rounded edges.",
+    "Push the white stapler with rounded design using one arm",
+    "Press down on the stapler the stapler for fastening papers firmly.",
+    "Push down on the smooth plastic stapler to staple papers.",
+    "Use one arm the right arm to press the paper stapler with silver tray.",
+    "Push down on the smooth plastic stapler to staple",
+    "Push the stapler the stapler with orange button with the right arm.",
+    "Press on the modern design stapler using the right arm.",
+    "Firmly push down on the white stapler with rounded design.",
+    "Apply force to the modern design stapler with the right arm",
+    "Push down on the modern design stapler firmly.",
+    "Firmly press the handheld stapler using an arm.",
+    "Apply pressure to the smooth plastic stapler with the right arm.",
+    "Press the small office stapler until it works",
+    "Push the stapler the white stapler with rounded design to activate it.",
+    "Apply pressure to the handheld stapler using one arm the right arm.",
+    "Use one arm to press the small office stapler.",
+    "Push down firmly on the white body stapler with accents to complete.",
+    "Press the smooth plastic stapler firmly to staple",
+    "Push the stapler with rounded edges until it staples.",
+    "Push the white stapler with rounded design down completely",
+    "Apply pressure on the handheld stapler until it works.",
+    "Press the modern design stapler to complete the task.",
+    "Press the stapler the stapler with orange button using an arm the right arm.",
+    "Push the top of the smooth plastic stapler down",
+    "Lower the smooth plastic stapler using an arm",
+    "Place pressure on the white stapler with rounded design to staple.",
+    "Press the handheld stapler to staple the sheets together.",
+    "Push down on the stapler the plastic and metal stapler.",
+    "Apply force to the modern design stapler to staple.",
+    "Push the stapler the stapler with orange button to operate it.",
+    "Press on the modern design stapler to activate it.",
+    "Push down hard on the modern design stapler with the right arm.",
+    "Apply pressure to the handheld stapler firmly",
+    "Firmly press down on the handheld stapler to staple."
+  ]
+}
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