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diff --git a/place_a2b_left/episode_0000027/TCP_third/metadata.json b/place_a2b_left/episode_0000027/TCP_third/metadata.json
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@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    168,
+    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_0000035/TCP_head/metadata.json b/place_a2b_left/episode_0000035/TCP_head/metadata.json
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--- /dev/null
+++ b/place_a2b_left/episode_0000035/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    154,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_a2b_left/episode_0000035/metadata.json b/place_a2b_left/episode_0000035/metadata.json
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+++ b/place_a2b_left/episode_0000035/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_a2b_left",
+  "episode": "episode_0000035",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_a2b_left/aloha_agilex/data/episode_0000035.hdf5",
+  "num_frames": 154,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      154,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      154,
+      14
+    ],
+    "action_shape": [
+      154,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Place the plastic rubikscube with six colored sides to rest left of the cardboard playing cards box using the left arm",
+    "Using the left arm, set the rubikscube with smooth square tiles to the left of the palm-sized box for playing cards.",
+    "Set the colorful rubikscube for twisting and solving left of the palm-sized box for playing cards.",
+    "Put the colorful rubikscube for twisting and solving on the left side of the black box with rectangular shape",
+    "Move the rubikscube to the left of the box holding playing cards.",
+    "Set the rubikscube to the left of the playing cards box with gold text",
+    "Move the multi-sided rubikscube with rotating pieces to the left of the black box with rectangular shape.",
+    "Position the smooth rubikscube with black frame edges to the left of the compact box for playing cards",
+    "Drop the rubikscube with bright primary colors on the left side of the playing cards box with gold text",
+    "Use the left arm and place the puzzle rubikscube with 3x3 grid per side left of the box with cards inside.",
+    "Place the plastic rubikscube with six colored sides on the left of the playing cards box with gold text.",
+    "Place the small plastic rubikscube exactly to the left of the smooth black cards container",
+    "Position the puzzle rubikscube with 3x3 grid per side to the left of the rectangular box for card storage.",
+    "Shift the rubikscube featuring white, green, orange tiles leftward to the side of the rectangle-shaped cards box",
+    "Use the left arm to move the rubikscube featuring white, green, orange tiles to the left of the smooth black cards container.",
+    "Grab the colorful rubikscube for twisting and solving with the left arm and set left of the box with cards inside",
+    "With the left arm, stick the colorful rubikscube for twisting and solving left of the black box with rectangular shape",
+    "Set the colorful rubikscube for twisting and solving directly to the left of the smooth black cards container",
+    "Place the rubikscube with smooth square tiles carefully to the black box with rectangular shape's left",
+    "Place the multi-colored cube left of the small black box with cards using the left arm",
+    "Using the left arm, place the puzzle rubikscube with 3x3 grid per side on the left of the box holding playing cards",
+    "Move the colorful rubikscube for twisting and solving to the left of the palm-sized box for playing cards",
+    "Shift the rubikscube with bright primary colors and position it left of the smooth black cards container.",
+    "Carefully position the multi-sided rubikscube with rotating pieces to the left of the black box with rectangular shape.",
+    "With the left arm, set the smooth rubikscube with black frame edges on the left of the rectangular box for card storage.",
+    "Set the puzzle rubikscube with 3x3 grid per side on the left side of the smooth black cards container.",
+    "Use the left arm to position the rubikscube with bright primary colors left of the small black box with cards",
+    "Use the left arm to set the puzzle rubikscube with 3x3 grid per side left of the cardboard playing cards box",
+    "Use the left arm to put the rubikscube showing red and white squares left of the black playing cards box",
+    "Grab the multi-sided rubikscube with rotating pieces using the left arm and place it left of the black box with rectangular shape.",
+    "Using the left arm, move the plastic rubikscube with six colored sides left of the rectangular box for card storage.",
+    "Grab the smooth rubikscube with black frame edges with the left arm and shift it left of the cardboard playing cards box.",
+    "With the left arm, position the plastic rubikscube with six colored sides left of the smooth black cards container.",
+    "Put the multi-colored cube to the left of the playing cards box with gold text",
+    "Move the multi-sided rubikscube with rotating pieces to the left side of the smooth black cards container",
+    "Grab the rubikscube using the left arm and move left of the black box with rectangular shape",
+    "Set the colorful rubikscube for twisting and solving carefully on the left of the black box with rectangular shape",
+    "Stick the small plastic rubikscube on the left of the compact box for playing cards",
+    "Drop the rubikscube showing red and white squares to the left of the compact box for playing cards",
+    "Position the rubikscube carefully to the left of the black playing cards box.",
+    "With the left arm, position the plastic rubikscube with six colored sides left of the smooth black cards container",
+    "Use the left arm to move the multi-colored cube to the rectangle-shaped cards box's left",
+    "Place the rubikscube left of the black box with rectangular shape using the left arm",
+    "Place the colorful rubikscube for twisting and solving directly to the left of the black box with rectangular shape.",
+    "Adjust the puzzle rubikscube with 3x3 grid per side to rest on the smooth black cards container's left",
+    "Grab the multi-colored cube using the left arm and place left of the cardboard playing cards box.",
+    "Use the left arm, move the smooth rubikscube with black frame edges left of the box with cards inside",
+    "With the left arm, move the rubikscube showing red and white squares to the left side of the smooth black cards container.",
+    "With the left arm, place the rubikscube with smooth square tiles left of the box with cards inside",
+    "Using the left arm, put the rubikscube with bright primary colors on left of the black box with rectangular shape",
+    "Place the rubikscube to rest left of the rectangular box for card storage using the left arm",
+    "Using the left arm, set the multi-sided rubikscube with rotating pieces to the left of the black box with rectangular shape.",
+    "Set the rubikscube featuring white, green, orange tiles left of the compact box for playing cards.",
+    "Put the rubikscube featuring white, green, orange tiles on the left side of the compact box for playing cards",
+    "Move the puzzle rubikscube with 3x3 grid per side to the left of the rectangle-shaped cards box.",
+    "Set the rubikscube with smooth square tiles to the left of the compact box for playing cards",
+    "Move the small plastic rubikscube to the left of the compact box for playing cards.",
+    "Position the rubikscube to the left of the smooth black cards container",
+    "Drop the multi-colored cube on the left side of the playing cards box with gold text",
+    "Use the left arm and place the colorful rubikscube for twisting and solving left of the box with cards inside.",
+    "Place the rubikscube with smooth square tiles on the left of the smooth black cards container.",
+    "Place the plastic rubikscube with six colored sides exactly to the left of the small black box with cards",
+    "Position the rubikscube showing red and white squares to the left of the small black box with cards.",
+    "Shift the rubikscube with bright primary colors leftward to the side of the black box with rectangular shape",
+    "Use the left arm to move the multi-sided rubikscube with rotating pieces to the left of the smooth black cards container.",
+    "Grab the rubikscube featuring white, green, orange tiles with the left arm and set left of the smooth black cards container",
+    "With the left arm, stick the rubikscube showing red and white squares left of the box with cards inside",
+    "Set the puzzle rubikscube with 3x3 grid per side directly to the left of the box with cards inside",
+    "Place the rubikscube featuring white, green, orange tiles carefully to the small black box with cards's left",
+    "Place the small plastic rubikscube left of the compact box for playing cards using the left arm",
+    "Using the left arm, place the small plastic rubikscube on the left of the small black box with cards",
+    "Move the rubikscube with smooth square tiles to the left of the compact box for playing cards",
+    "Shift the multi-sided rubikscube with rotating pieces and position it left of the playing cards box with gold text.",
+    "Carefully position the colorful rubikscube for twisting and solving to the left of the palm-sized box for playing cards.",
+    "With the left arm, set the multi-sided rubikscube with rotating pieces on the left of the compact box for playing cards.",
+    "Set the rubikscube featuring white, green, orange tiles on the left side of the cardboard playing cards box.",
+    "Use the left arm to position the rubikscube showing red and white squares left of the smooth black cards container",
+    "Use the left arm to set the rubikscube featuring white, green, orange tiles left of the rectangular box for card storage",
+    "Use the left arm to put the rubikscube featuring white, green, orange tiles left of the playing cards box with gold text",
+    "Grab the puzzle rubikscube with 3x3 grid per side using the left arm and place it left of the palm-sized box for playing cards.",
+    "Using the left arm, move the puzzle rubikscube with 3x3 grid per side left of the black box with rectangular shape.",
+    "Grab the colorful rubikscube for twisting and solving with the left arm and shift it left of the compact box for playing cards.",
+    "With the left arm, position the multi-sided rubikscube with rotating pieces left of the black box with rectangular shape.",
+    "Put the plastic rubikscube with six colored sides to the left of the playing cards box with gold text",
+    "Move the rubikscube to the left side of the rectangle-shaped cards box",
+    "Grab the rubikscube using the left arm and move left of the smooth black cards container",
+    "Set the puzzle rubikscube with 3x3 grid per side carefully on the left of the palm-sized box for playing cards",
+    "Stick the puzzle rubikscube with 3x3 grid per side on the left of the palm-sized box for playing cards",
+    "Drop the smooth rubikscube with black frame edges to the left of the rectangular box for card storage",
+    "Position the multi-colored cube carefully to the left of the small black box with cards.",
+    "With the left arm, position the smooth rubikscube with black frame edges left of the cardboard playing cards box",
+    "Use the left arm to move the small plastic rubikscube to the box with cards inside's left",
+    "Place the puzzle rubikscube with 3x3 grid per side left of the box with cards inside using the left arm",
+    "Place the puzzle rubikscube with 3x3 grid per side directly to the left of the compact box for playing cards.",
+    "Adjust the colorful rubikscube for twisting and solving to rest on the black box with rectangular shape's left",
+    "Grab the rubikscube showing red and white squares using the left arm and place left of the box with cards inside.",
+    "Use the left arm, move the rubikscube showing red and white squares left of the black box with rectangular shape",
+    "With the left arm, move the small plastic rubikscube to the left side of the compact box for playing cards.",
+    "With the left arm, place the rubikscube with bright primary colors left of the black box with rectangular shape",
+    "Using the left arm, put the multi-sided rubikscube with rotating pieces on left of the box with cards inside"
+  ]
+}
diff --git a/place_a2b_left/episode_0000039/TCP_head/metadata.json b/place_a2b_left/episode_0000039/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c935d1c7f85e5277668b73ecf88af32a4da9d5f1
--- /dev/null
+++ b/place_a2b_left/episode_0000039/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    147,
+    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_0000039/TCP_third/metadata.json b/place_a2b_left/episode_0000039/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee82ba7de9462536f95f1ad23219c0f009489da1
--- /dev/null
+++ b/place_a2b_left/episode_0000039/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    147,
+    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_0000039/metadata.json b/place_a2b_left/episode_0000039/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b47f5a0812021b695b927dcf2b6b0bca9b99f41f
--- /dev/null
+++ b/place_a2b_left/episode_0000039/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_a2b_left",
+  "episode": "episode_0000039",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_a2b_left/aloha_agilex/data/episode_0000039.hdf5",
+  "num_frames": 147,
+  "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": [
+      147,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      147,
+      14
+    ],
+    "action_shape": [
+      147,
+      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 rounded teal car toy on the left of the compact office stapler",
+    "Set the light teal toycar with white roof directly to the left of the office stapler with plastic and metal parts",
+    "Position the toycar with white roof and teal body to the left of the manual stapler with black base",
+    "With the left arm, place the miniature teal vehicle toy left of the compact office stapler",
+    "Move the toycar with glossy finish to the left of the small handheld stapler.",
+    "Use the left arm to set the rounded teal car toy left of the stapler for fastening papers",
+    "Drop the small car toy to the left of the desk stapler with red body",
+    "Grab the toycar with glossy finish with the left arm and set left of the small handheld stapler",
+    "Use the left arm, move the small teal plastic car with windows left of the stapler with red top",
+    "Shift the play car in teal and white leftward to the side of the red top black bottom stapler",
+    "Grab the play car in teal and white using the left arm and place left of the stapler with red top.",
+    "Grab the smooth teal car with the left arm and shift it left of the red stapler.",
+    "Use the left arm to move the miniature teal vehicle toy to the left of the stapler for fastening papers.",
+    "With the left arm, set the toycar with white roof and teal body on the left of the small handheld stapler.",
+    "Using the left arm, set the toycar with black tires to the left of the red stapler with black base.",
+    "Using the left arm, put the small teal plastic car with windows on left of the red stapler",
+    "Grab the toycar with white roof and teal body using the left arm and move left of the office stapler with plastic and metal parts",
+    "Set the light teal toycar with white roof on the left side of the office stapler with plastic and metal parts.",
+    "Place the toycar with white roof and teal body directly to the left of the desk stapler with red body.",
+    "Place the small car toy left of the office stapler with plastic and metal parts using the left arm",
+    "Drop the rounded teal car toy on the left side of the red plastic stapler with smooth top",
+    "Position the light teal toycar with white roof carefully to the left of the manual stapler with black base.",
+    "With the left arm, position the mini car toy left of the red stapler with black base.",
+    "Using the left arm, place the rounded teal car toy on the left of the stapler with red top",
+    "Use the left arm to position the mini car toy left of the manual stapler with black base",
+    "Move the mini car toy to the left of the red stapler.",
+    "Put the miniature teal vehicle toy to the left of the office stapler with plastic and metal parts",
+    "Place the miniature teal vehicle toy exactly to the left of the office stapler with plastic and metal parts",
+    "Place the miniature teal vehicle toy left of the red stapler using the left arm",
+    "Set the play car in teal and white left of the small handheld stapler.",
+    "Position the mini car toy to the left of the manual stapler with black base.",
+    "With the left arm, move the light teal toycar with white roof to the left side of the stapler with metallic staple slot.",
+    "Using the left arm, move the small car toy left of the stapler with red top.",
+    "Use the left arm to move the toycar with black tires to the office stapler with plastic and metal parts's left",
+    "Place the mini car toy to rest left of the red stapler with black base using the left arm",
+    "Place the light teal toycar with white roof on the left of the stapler with red top.",
+    "With the left arm, stick the light teal toycar with white roof left of the red plastic stapler with smooth top",
+    "Shift the small teal plastic car with windows and position it left of the red stapler with black base.",
+    "Move the light teal toycar with white roof to the left of the desk stapler with red body",
+    "With the left arm, position the rounded teal car toy left of the compact office stapler",
+    "Grab the small car toy using the left arm and place it left of the desk stapler with red body.",
+    "Set the play car in teal and white to the left of the red stapler",
+    "Use the left arm and place the small car toy left of the office stapler with plastic and metal parts.",
+    "Use the left arm to put the toycar with glossy finish left of the manual stapler with black base",
+    "Put the light teal toycar with white roof on the left side of the compact office stapler",
+    "Adjust the toycar with black tires to rest on the small handheld stapler's left",
+    "Place the miniature teal vehicle toy carefully to the stapler for fastening papers's left",
+    "Set the smooth teal car carefully on the left of the manual stapler with black base",
+    "Move the smooth teal car to the left side of the red top black bottom stapler",
+    "Carefully position the toycar with black tires to the left of the red stapler with black base.",
+    "Stick the toycar with glossy finish on the left of the small handheld stapler",
+    "Set the smooth teal car directly to the left of the office stapler with plastic and metal parts",
+    "Position the small car toy to the left of the red stapler",
+    "With the left arm, place the mini car toy left of the stapler for fastening papers",
+    "Move the rounded teal car toy to the left of the stapler with metallic staple slot.",
+    "Use the left arm to set the toycar with black tires left of the office stapler with plastic and metal parts",
+    "Drop the small car toy to the left of the small handheld stapler",
+    "Grab the rounded teal car toy with the left arm and set left of the red stapler with black base",
+    "Use the left arm, move the miniature teal vehicle toy left of the stapler with metallic staple slot",
+    "Shift the small car toy leftward to the side of the red stapler with black base",
+    "Grab the small teal plastic car with windows using the left arm and place left of the red plastic stapler with smooth top.",
+    "Grab the mini car toy with the left arm and shift it left of the red top black bottom stapler.",
+    "Use the left arm to move the compact teal toycar to the left of the red plastic stapler with smooth top.",
+    "With the left arm, set the small teal plastic car with windows on the left of the manual stapler with black base.",
+    "Using the left arm, set the rounded teal car toy to the left of the stapler with metallic staple slot.",
+    "Using the left arm, put the smooth teal car on left of the compact office stapler",
+    "Grab the miniature teal vehicle toy using the left arm and move left of the stapler with metallic staple slot",
+    "Set the small car toy on the left side of the stapler for fastening papers.",
+    "Place the light teal toycar with white roof directly to the left of the red top black bottom stapler.",
+    "Place the light teal toycar with white roof left of the red plastic stapler with smooth top using the left arm",
+    "Drop the small car toy on the left side of the stapler for fastening papers",
+    "Position the small car toy carefully to the left of the office stapler with plastic and metal parts.",
+    "With the left arm, position the toycar with white roof and teal body left of the red stapler.",
+    "Using the left arm, place the smooth teal car on the left of the red stapler with black base",
+    "Use the left arm to position the small teal plastic car with windows left of the stapler with metallic staple slot",
+    "Move the miniature teal vehicle toy to the left of the red top black bottom stapler.",
+    "Put the toycar with black tires to the left of the stapler with red top",
+    "Place the small car toy exactly to the left of the red plastic stapler with smooth top",
+    "Place the toycar with white roof and teal body left of the desk stapler with red body using the left arm",
+    "Set the small teal plastic car with windows left of the stapler with red top.",
+    "Position the small teal plastic car with windows to the left of the desk stapler with red body.",
+    "With the left arm, move the compact teal toycar to the left side of the office stapler with plastic and metal parts.",
+    "Using the left arm, move the play car in teal and white left of the stapler with red top.",
+    "Use the left arm to move the toycar with glossy finish to the compact office stapler's left",
+    "Place the rounded teal car toy to rest left of the compact office stapler using the left arm",
+    "Place the light teal toycar with white roof on the left of the stapler with metallic staple slot.",
+    "With the left arm, stick the compact teal toycar left of the red plastic stapler with smooth top",
+    "Shift the small car toy and position it left of the red top black bottom stapler.",
+    "Move the mini car toy to the left of the manual stapler with black base",
+    "With the left arm, position the smooth teal car left of the red stapler with black base",
+    "Grab the toycar with glossy finish using the left arm and place it left of the stapler with metallic staple slot.",
+    "Set the toycar with white roof and teal body to the left of the manual stapler with black base",
+    "Use the left arm and place the small car toy left of the manual stapler with black base.",
+    "Use the left arm to put the small car toy left of the stapler with red top",
+    "Put the play car in teal and white on the left side of the stapler for fastening papers",
+    "Adjust the toycar with glossy finish to rest on the manual stapler with black base's left",
+    "Place the toycar with black tires carefully to the red plastic stapler with smooth top's left",
+    "Set the toycar with glossy finish carefully on the left of the red stapler with black base",
+    "Move the rounded teal car toy to the left side of the manual stapler with black base",
+    "Carefully position the toycar with white roof and teal body to the left of the office stapler with plastic and metal parts."
+  ]
+}
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diff --git a/place_cans_plasticbox/episode_0000020/TCP_third/metadata.json b/place_cans_plasticbox/episode_0000020/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e76a999f89af9372a327cbf860a7ebf2eb5acf6
--- /dev/null
+++ b/place_cans_plasticbox/episode_0000020/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    359,
+    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_cans_plasticbox/episode_0000030/TCP_third/metadata.json b/place_cans_plasticbox/episode_0000030/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9edc4fa1661d1a8e3a89cff7b5aca9512bede311
--- /dev/null
+++ b/place_cans_plasticbox/episode_0000030/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    306,
+    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_fan/episode_0000010/TCP_head/metadata.json b/place_fan/episode_0000010/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c935d1c7f85e5277668b73ecf88af32a4da9d5f1
--- /dev/null
+++ b/place_fan/episode_0000010/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    147,
+    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_fan/episode_0000010/metadata.json b/place_fan/episode_0000010/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b51e819e2feb486dbb5af2844ec190375de12109
--- /dev/null
+++ b/place_fan/episode_0000010/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_fan",
+  "episode": "episode_0000010",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_fan/aloha_agilex/data/episode_0000010.hdf5",
+  "num_frames": 147,
+  "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": [
+      147,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      147,
+      14
+    ],
+    "action_shape": [
+      147,
+      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 curved plastic body small fan, place it on the Turquoise mat, and ensure it's facing the robot.",
+    "Grab the small handheld fan with the right arm, set it on the Turquoise mat, and align it to face the robot",
+    "Grab the fan with rounded rectangular body and position it on the Turquoise mat, ensuring it faces the robot.",
+    "Take the curved plastic body small fan, place it on the Turquoise mat, ensure it points at the robot",
+    "Grab the off-white fan using the right arm and set it on the Turquoise colored mat, facing the robot.",
+    "Set the fan with cylinder-shaped handle base on the Turquoise colored mat ensuring it faces the robot.",
+    "Pick up the off-white fan and place it on the Turquoise mat with it facing the robot.",
+    "Lift the rounded fan with central handle and put it on the Turquoise mat so it faces the robot",
+    "Pick the small handheld fan, align it toward the robot, and drop it on the Turquoise mat.",
+    "Grab the off-white fan using the right arm and position it on the Turquoise mat facing the robot.",
+    "Lift the rounded fan with central handle with the right arm, place it on the Turquoise mat, and point it at the robot",
+    "Put the fan with cylinder-shaped handle base on the Turquoise mat and make sure it faces the robot.",
+    "Grab the fan with beige grilles and carefully place it on the Turquoise mat facing toward the robot.",
+    "Place the compact fan with beige blades on the Turquoise colored mat ensuring it faces the robot.",
+    "Take the smooth off-white plastic fan and place it on the Turquoise mat, making sure it faces the robot.",
+    "Pick the curved plastic body small fan, place it on the Turquoise mat, and ensure it points toward the robot.",
+    "Pick up the compact fan with beige blades and ensure it faces the robot on the Turquoise mat.",
+    "Pick the fan with beige grilles with the right arm and set it on the Turquoise mat facing the robot.",
+    "Grab the smooth off-white plastic fan with the right arm and ensure it's positioned on the Turquoise mat facing the robot.",
+    "Lift the fan with beige grilles and set it on the Turquoise mat, ensuring it faces the robot.",
+    "Use the right arm to pick up the fan with cylinder-shaped handle base and place it on Turquoise mat.",
+    "Position the handheld fan with circular blade housing on the Turquoise mat so it faces the robot.",
+    "Place the fan with rounded rectangular body on the Turquoise mat and position it to face the robot.",
+    "Use the right arm to grab the fan with rounded rectangular body, then align it on the Turquoise mat facing the robot.",
+    "Lift the smooth off-white plastic fan, align it toward the robot, and position it on the Turquoise mat.",
+    "Place the rounded fan with central handle on the Turquoise mat and ensure it faces the robot.",
+    "Using the right arm, grab the curved plastic body small fan, face it towards the robot, and set it on the Turquoise mat.",
+    "Set the fan with cylinder-shaped handle base onto the Turquoise colored mat, oriented towards the robot.",
+    "Pick the curved plastic body small fan with the right arm, ensure it faces the robot, and put it on the Turquoise mat.",
+    "Pick up the small cooling device fan and place it on the Turquoise mat ensuring it faces the robot.",
+    "Lift the off-white fan using the right arm and put it on the Turquoise mat facing the robot.",
+    "Place the small handheld fan on the Turquoise mat after grabbing it with the right arm and align it toward the robot.",
+    "With the right arm, grab the plastic fan with smooth finish and position it on the Turquoise mat facing the robot",
+    "With the right arm, grab the fan with beige grilles, align it to face the robot, and put it on the Turquoise mat.",
+    "Place the plastic fan with smooth finish on the Turquoise mat and verify it is facing the robot.",
+    "Using the right arm, grab the fan with cylinder-shaped handle base and put it on the Turquoise mat facing the robot.",
+    "Place the handheld fan with circular blade housing on the Turquoise mat and confirm it is pointing at the robot",
+    "Pick the small handheld fan with the right arm, align it to face the robot, and set it on the Turquoise mat.",
+    "Pick up the fan with rounded rectangular body with the right arm, place it on the Turquoise mat, and turn it toward the robot.",
+    "Use the right arm to pick the off-white fan, set it on the Turquoise mat, and face it toward the robot.",
+    "Using the right arm, grab the off-white fan and set it on the Turquoise mat facing the robot.",
+    "Grab the rounded fan with central handle, position it to face the robot, and place it on the Turquoise mat.",
+    "Grab the fan with beige grilles with the right arm, place it on the Turquoise mat, ensure it faces the robot.",
+    "Use the right arm to pick the off-white fan, set it on the Turquoise mat, and direct it toward the robot",
+    "Use the right arm to grab the fan with rounded rectangular body, set it on Turquoise mat, and make it face the robot.",
+    "Set the smooth off-white plastic fan on the Turquoise mat and make sure it faces the robot",
+    "Grab the small handheld fan with the right arm, making sure it faces the robot on the Turquoise mat.",
+    "Grab the compact fan with beige blades using the right arm and place it on the Turquoise mat ensuring it faces the robot.",
+    "Take the rounded fan with central handle with the right arm, put it on the Turquoise mat, and make it face the robot",
+    "Use the right arm to grab the fan with beige grilles, put it on the Turquoise mat, and face it toward the robot",
+    "Lift the smooth off-white plastic fan, place it on the Turquoise mat, and ensure it's facing the robot.",
+    "Grab the fan with rounded rectangular body with the right arm, set it on the Turquoise mat, and align it to face the robot",
+    "Grab the curved plastic body small fan and position it on the Turquoise mat, ensuring it faces the robot.",
+    "Take the fan with rounded rectangular body, place it on the Turquoise mat, ensure it points at the robot",
+    "Grab the small handheld fan using the right arm and set it on the Turquoise colored mat, facing the robot.",
+    "Set the handheld fan with circular blade housing on the Turquoise colored mat ensuring it faces the robot.",
+    "Pick up the off-white fan and place it on the Turquoise mat with it facing the robot.",
+    "Lift the off-white fan and put it on the Turquoise mat so it faces the robot",
+    "Pick the fan with rounded rectangular body, align it toward the robot, and drop it on the Turquoise mat.",
+    "Grab the fan with beige grilles using the right arm and position it on the Turquoise mat facing the robot.",
+    "Lift the handheld fan with circular blade housing with the right arm, place it on the Turquoise mat, and point it at the robot",
+    "Put the rounded fan with central handle on the Turquoise mat and make sure it faces the robot.",
+    "Grab the fan with rounded rectangular body and carefully place it on the Turquoise mat facing toward the robot.",
+    "Place the small handheld fan on the Turquoise colored mat ensuring it faces the robot.",
+    "Take the rounded fan with central handle and place it on the Turquoise mat, making sure it faces the robot.",
+    "Pick the small handheld fan, place it on the Turquoise mat, and ensure it points toward the robot.",
+    "Pick up the curved plastic body small fan and ensure it faces the robot on the Turquoise mat.",
+    "Pick the off-white fan with the right arm and set it on the Turquoise mat facing the robot.",
+    "Grab the small handheld fan with the right arm and ensure it's positioned on the Turquoise mat facing the robot.",
+    "Lift the fan with rounded rectangular body and set it on the Turquoise mat, ensuring it faces the robot.",
+    "Use the right arm to pick up the handheld fan with circular blade housing and place it on Turquoise mat.",
+    "Position the curved plastic body small fan on the Turquoise mat so it faces the robot.",
+    "Place the smooth off-white plastic fan on the Turquoise mat and position it to face the robot.",
+    "Use the right arm to grab the off-white fan, then align it on the Turquoise mat facing the robot.",
+    "Lift the rounded fan with central handle, align it toward the robot, and position it on the Turquoise mat.",
+    "Place the fan with cylinder-shaped handle base on the Turquoise mat and ensure it faces the robot.",
+    "Using the right arm, grab the fan with cylinder-shaped handle base, face it towards the robot, and set it on the Turquoise mat.",
+    "Set the fan with beige grilles onto the Turquoise colored mat, oriented towards the robot.",
+    "Pick the compact fan with beige blades with the right arm, ensure it faces the robot, and put it on the Turquoise mat.",
+    "Pick up the fan with cylinder-shaped handle base and place it on the Turquoise mat ensuring it faces the robot.",
+    "Lift the handheld fan with circular blade housing using the right arm and put it on the Turquoise mat facing the robot.",
+    "Place the fan with rounded rectangular body on the Turquoise mat after grabbing it with the right arm and align it toward the robot.",
+    "With the right arm, grab the small cooling device fan and position it on the Turquoise mat facing the robot",
+    "With the right arm, grab the off-white fan, align it to face the robot, and put it on the Turquoise mat.",
+    "Place the rounded fan with central handle on the Turquoise mat and verify it is facing the robot.",
+    "Using the right arm, grab the fan with cylinder-shaped handle base and put it on the Turquoise mat facing the robot.",
+    "Place the smooth off-white plastic fan on the Turquoise mat and confirm it is pointing at the robot",
+    "Pick the small handheld fan with the right arm, align it to face the robot, and set it on the Turquoise mat.",
+    "Pick up the compact fan with beige blades with the right arm, place it on the Turquoise mat, and turn it toward the robot.",
+    "Use the right arm to pick the curved plastic body small fan, set it on the Turquoise mat, and face it toward the robot.",
+    "Using the right arm, grab the fan with beige grilles and set it on the Turquoise mat facing the robot.",
+    "Grab the fan with cylinder-shaped handle base, position it to face the robot, and place it on the Turquoise mat.",
+    "Grab the rounded fan with central handle with the right arm, place it on the Turquoise mat, ensure it faces the robot.",
+    "Use the right arm to pick the compact fan with beige blades, set it on the Turquoise mat, and direct it toward the robot",
+    "Use the right arm to grab the fan with beige grilles, set it on Turquoise mat, and make it face the robot.",
+    "Set the handheld fan with circular blade housing on the Turquoise mat and make sure it faces the robot",
+    "Grab the fan with rounded rectangular body with the right arm, making sure it faces the robot on the Turquoise mat.",
+    "Grab the handheld fan with circular blade housing using the right arm and place it on the Turquoise mat ensuring it faces the robot.",
+    "Take the small handheld fan with the right arm, put it on the Turquoise mat, and make it face the robot",
+    "Use the right arm to grab the curved plastic body small fan, put it on the Turquoise mat, and face it toward the robot"
+  ]
+}
diff --git a/place_fan/episode_0000020/TCP_third/metadata.json b/place_fan/episode_0000020/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..65300e20400a5bebc74f139a41d972397859cfd8
--- /dev/null
+++ b/place_fan/episode_0000020/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    136,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69ec7162935cf53a68b3c03cb22b95b6c44b55acee43f5ad069fe117452dd9d2
+size 44680
diff --git a/rotate_qrcode/episode_0000014/TCP_head/metadata.json b/rotate_qrcode/episode_0000014/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..af36b07437d3f8273d13ab023dc7a8609c8a0a96
--- /dev/null
+++ b/rotate_qrcode/episode_0000014/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    164,
+    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/rotate_qrcode/episode_0000014/TCP_third/metadata.json b/rotate_qrcode/episode_0000014/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..01a3cb50179c33cf17ad68f3c010baf2ff81ae2a
--- /dev/null
+++ b/rotate_qrcode/episode_0000014/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    164,
+    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/rotate_qrcode/episode_0000014/metadata.json b/rotate_qrcode/episode_0000014/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..064c19358ece33d6a2ecdeea1142f94259ffd0f1
--- /dev/null
+++ b/rotate_qrcode/episode_0000014/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "rotate_qrcode",
+  "episode": "episode_0000014",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/rotate_qrcode/aloha_agilex/data/episode_0000014.hdf5",
+  "num_frames": 164,
+  "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": [
+      164,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      164,
+      14
+    ],
+    "action_shape": [
+      164,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Use the left arm to grab the smooth beige paymentsign, rotate, and face the QR code towards you.",
+    "Use the left arm to take the compact paymentsign for scanning payments and turn it until the QR code faces you",
+    "Take the compact paymentsign for scanning payments, raise it, and make the qrcode face you.",
+    "Use the left arm to grab the rectangular paymentsign with colorful top and rotate it until the QR faces forward",
+    "Lift the small paymentsign for mobile payments and rotate for its qrcode to face you.",
+    "Catch the small paymentsign for mobile payments, lift, and rotate to align the qrcode to you.",
+    "Catch the small paymentsign for mobile payments with the left arm, then rotate it to make the QR code visible.",
+    "Lift the compact paymentsign for scanning payments from the table, turning it QR code forward.",
+    "Use the left arm to grab the stand-up paymentsign with rectangular top and rotate QR code towards you.",
+    "Catch the beige paymentsign with printed details, lift it, and rotate it QR code facing.",
+    "Use the left arm to lift the small paymentsign for mobile payments and rotate it QR code toward you.",
+    "Lift the smooth beige paymentsign and rotate until its qrcode faces you.",
+    "Catch the stand-up paymentsign with rectangular top, raise it, and turn it so the QR code faces you",
+    "Use the left arm to grab the small paymentsign for mobile payments, lift, and turn it QR code forward",
+    "Find the rectangular paymentsign with colorful top, grab it, and turn it towards yourself.",
+    "Use the left arm to grab the stand-up paymentsign with rectangular top and point its QR code toward you.",
+    "Use the left arm to pick the compact paymentsign for scanning payments and turn it towards you.",
+    "Grab the small paymentsign for mobile payments, pick it up, and turn its qrcode toward you.",
+    "Grab the paymentsign with tilted rectangular panel using the left arm, then rotate it until the qrcode faces you.",
+    "Pick the paymentsign with blue and white text up and turn its QR code toward you using the left arm.",
+    "Catch the beige paymentsign with printed details using the left arm, pick it up, and turn it to face the QR code.",
+    "Catch and lift the paymentsign showing QR code label, then turn it to show the QR code.",
+    "Grab the paymentsign with tilted rectangular panel, lift it from the table, and rotate it QR front",
+    "Grab the small paymentsign for mobile payments with the left arm, then rotate it to face yourself.",
+    "Use the left arm to lift the paymentsign resting on angled base from the table and face the qrcode.",
+    "Grab the beige paymentsign with printed details using the left arm, then rotate the QR code to face forward.",
+    "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to show the QR code.",
+    "Slide the paymentsign showing QR code label off the table and turn it to face you.",
+    "Take the paymentsign showing QR code label, lift it, and orient it so the QR faces you",
+    "Lift the compact paymentsign for scanning payments from the table and rotate it so the code faces you.",
+    "Lift the small paymentsign for mobile payments from the table and turn it to face you.",
+    "Lift the QR code paymentsign from the surface and adjust its angle towards you",
+    "Using the left arm, catch the beige paymentsign with printed details and rotate it to face the QR code.",
+    "Pick up the smooth beige paymentsign and rotate it so the QR code faces you",
+    "Lift the small paymentsign for mobile payments from the table and rotate it towards you",
+    "Pick the beige paymentsign up, then rotate to make its qrcode visible.",
+    "Catch the QR code paymentsign, pick it up, and rotate to view the qrcode.",
+    "Pick the beige paymentsign with printed details up, rotate it, and ensure the QR code faces you.",
+    "Grab the smooth beige paymentsign using the left arm, lift, and rotate until QR code faces you.",
+    "Lift the stand-up paymentsign with rectangular top and rotate it until the QR code faces you.",
+    "Pick up the beige paymentsign and adjust its position to face the qrcode towards you.",
+    "Use the left arm to grab the beige paymentsign with printed details and rotate the qrcode to face you.",
+    "Employ the left arm to seize the beige paymentsign with printed details, raise it, and rotate it QR-forward",
+    "Catch the paymentsign with blue and white text, lift it, and turn the qrcode towards you.",
+    "Catch the paymentsign with blue and white text, lift it, and adjust its QR code to face you.",
+    "Take the stand-up paymentsign with rectangular top from the table, rotating it QR code toward you.",
+    "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the left arm.",
+    "Lift the smooth beige paymentsign with the left arm, then rotate it to make the qrcode visible.",
+    "Locate the beige paymentsign, pick it up, and adjust its angle.",
+    "Catch the rectangular paymentsign with colorful top off the table and rotate its qrcode to you.",
+    "Use the left arm to grab the beige paymentsign, rotate, and face the QR code towards you.",
+    "Use the left arm to take the paymentsign with blue and white text and turn it until the QR code faces you",
+    "Take the paymentsign with tilted rectangular panel, raise it, and make the qrcode face you.",
+    "Use the left arm to grab the stand-up paymentsign with rectangular top and rotate it until the QR faces forward",
+    "Lift the QR code paymentsign and rotate for its qrcode to face you.",
+    "Catch the stand-up paymentsign with rectangular top, lift, and rotate to align the qrcode to you.",
+    "Catch the small paymentsign for mobile payments with the left arm, then rotate it to make the QR code visible.",
+    "Lift the paymentsign showing QR code label from the table, turning it QR code forward.",
+    "Use the left arm to grab the rectangular paymentsign with colorful top and rotate QR code towards you.",
+    "Catch the QR code paymentsign, lift it, and rotate it QR code facing.",
+    "Use the left arm to lift the smooth beige paymentsign and rotate it QR code toward you.",
+    "Lift the beige paymentsign and rotate until its qrcode faces you.",
+    "Catch the paymentsign showing QR code label, raise it, and turn it so the QR code faces you",
+    "Use the left arm to grab the beige paymentsign, lift, and turn it QR code forward",
+    "Find the small paymentsign for mobile payments, grab it, and turn it towards yourself.",
+    "Use the left arm to grab the rectangular paymentsign with colorful top and point its QR code toward you.",
+    "Use the left arm to pick the paymentsign resting on angled base and turn it towards you.",
+    "Grab the smooth beige paymentsign, pick it up, and turn its qrcode toward you.",
+    "Grab the beige paymentsign using the left arm, then rotate it until the qrcode faces you.",
+    "Pick the paymentsign showing QR code label up and turn its QR code toward you using the left arm.",
+    "Catch the paymentsign with blue and white text using the left arm, pick it up, and turn it to face the QR code.",
+    "Catch and lift the paymentsign showing QR code label, then turn it to show the QR code.",
+    "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front",
+    "Grab the beige paymentsign with the left arm, then rotate it to face yourself.",
+    "Use the left arm to lift the beige paymentsign with printed details from the table and face the qrcode.",
+    "Grab the paymentsign resting on angled base using the left arm, then rotate the QR code to face forward.",
+    "Catch the beige paymentsign with printed details, pick it up, and rotate to show the QR code.",
+    "Slide the beige paymentsign with printed details off the table and turn it to face you.",
+    "Take the paymentsign resting on angled base, lift it, and orient it so the QR faces you",
+    "Lift the paymentsign with blue and white text from the table and rotate it so the code faces you.",
+    "Lift the QR code paymentsign from the table and turn it to face you.",
+    "Lift the compact paymentsign for scanning payments from the surface and adjust its angle towards you",
+    "Using the left arm, catch the compact paymentsign for scanning payments and rotate it to face the QR code.",
+    "Pick up the paymentsign with blue and white text and rotate it so the QR code faces you",
+    "Lift the stand-up paymentsign with rectangular top from the table and rotate it towards you",
+    "Pick the compact paymentsign for scanning payments up, then rotate to make its qrcode visible.",
+    "Catch the paymentsign with blue and white text, pick it up, and rotate to view the qrcode.",
+    "Pick the paymentsign resting on angled base up, rotate it, and ensure the QR code faces you.",
+    "Grab the beige paymentsign with printed details using the left arm, lift, and rotate until QR code faces you.",
+    "Lift the QR code paymentsign and rotate it until the QR code faces you.",
+    "Pick up the small paymentsign for mobile payments and adjust its position to face the qrcode towards you.",
+    "Use the left arm to grab the beige paymentsign and rotate the qrcode to face you.",
+    "Employ the left arm to seize the paymentsign resting on angled base, raise it, and rotate it QR-forward",
+    "Catch the smooth beige paymentsign, lift it, and turn the qrcode towards you.",
+    "Catch the small paymentsign for mobile payments, lift it, and adjust its QR code to face you.",
+    "Take the paymentsign showing QR code label from the table, rotating it QR code toward you.",
+    "Lift the smooth beige paymentsign and orient its QR code toward you with the left arm.",
+    "Lift the QR code paymentsign with the left arm, then rotate it to make the qrcode visible.",
+    "Locate the paymentsign showing QR code label, pick it up, and adjust its angle.",
+    "Catch the beige paymentsign with printed details off the table and rotate its qrcode to you."
+  ]
+}
diff --git a/rotate_qrcode/episode_0000026/TCP_head/metadata.json b/rotate_qrcode/episode_0000026/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..84667f0fda94d36a8fa1182bc7d4b7f3b4add005
--- /dev/null
+++ b/rotate_qrcode/episode_0000026/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    170,
+    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/rotate_qrcode/episode_0000026/metadata.json b/rotate_qrcode/episode_0000026/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d31c527e7674ab86f05ccaa283c7c50c510ad3fe
--- /dev/null
+++ b/rotate_qrcode/episode_0000026/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "rotate_qrcode",
+  "episode": "episode_0000026",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/rotate_qrcode/aloha_agilex/data/episode_0000026.hdf5",
+  "num_frames": 170,
+  "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": [
+      170,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      170,
+      14
+    ],
+    "action_shape": [
+      170,
+      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": [
+    "Catch the rectangular paymentsign with stand with the right arm, then rotate it to make the QR code visible.",
+    "Use the right arm to take the yellow and white payment display and turn it until the QR code faces you",
+    "Use the right arm to grab the white paymentsign with raised base and point its QR code toward you.",
+    "Find the rectangular paymentsign with stand, grab it, and turn it towards yourself.",
+    "Catch the rectangular paymentsign with stand, lift it, and rotate it QR code facing.",
+    "Lift the white rectangular paymentsign with yellow details from the table and rotate it towards you",
+    "Catch the paymentsign, lift, and rotate to align the qrcode to you.",
+    "Take the yellow and white payment display, raise it, and make the qrcode face you.",
+    "Lift the plastic smooth paymentsign from the table and rotate it so the code faces you.",
+    "Catch the tabletop paymentsign, lift it, and adjust its QR code to face you.",
+    "Use the right arm to grab the smooth plastic paymentsign with QR code and rotate it until the QR faces forward",
+    "Lift the yellow panel white paymentsign and rotate until its qrcode faces you.",
+    "Grab the smooth plastic paymentsign with QR code, lift it from the table, and rotate it QR front",
+    "Using the right arm, catch the sign with yellow payment section and rotate it to face the QR code.",
+    "Pick the sign with yellow payment section up, rotate it, and ensure the QR code faces you.",
+    "Use the right arm to grab the white rectangular paymentsign with yellow details, rotate, and face the QR code towards you.",
+    "Lift the plastic smooth paymentsign and rotate it until the QR code faces you.",
+    "Catch the smooth plastic paymentsign with QR code off the table and rotate its qrcode to you.",
+    "Lift the white rectangular paymentsign with yellow details and orient its QR code toward you with the right arm.",
+    "Grab the yellow panel white paymentsign using the right arm, then rotate it until the qrcode faces you.",
+    "Catch the plastic smooth paymentsign using the right arm, pick it up, and turn it to face the QR code.",
+    "Pick the white rectangular paymentsign with yellow details up, then rotate to make its qrcode visible.",
+    "Use the right arm to lift the tabletop paymentsign from the table and face the qrcode.",
+    "Employ the right arm to seize the yellow and white payment display, raise it, and rotate it QR-forward",
+    "Lift the paymentsign from the table and turn it to face you.",
+    "Grab the rectangular paymentsign with stand, pick it up, and turn its qrcode toward you.",
+    "Lift the plastic smooth paymentsign and rotate for its qrcode to face you.",
+    "Locate the white stand sign, pick it up, and adjust its angle.",
+    "Grab the plastic smooth paymentsign with the right arm, then rotate it to face yourself.",
+    "Lift the paymentsign from the table, turning it QR code forward.",
+    "Catch the yellow panel white paymentsign, pick it up, and rotate to show the QR code.",
+    "Use the right arm to grab the paymentsign with QR code area and rotate QR code towards you.",
+    "Catch the white rectangular paymentsign with yellow details, lift it, and turn the qrcode towards you.",
+    "Use the right arm to pick the white paymentsign with raised base and turn it towards you.",
+    "Catch the smooth plastic paymentsign with QR code, raise it, and turn it so the QR code faces you",
+    "Catch the white stand sign, pick it up, and rotate to view the qrcode.",
+    "Catch and lift the tabletop paymentsign, then turn it to show the QR code.",
+    "Grab the paymentsign using the right arm, then rotate the QR code to face forward.",
+    "Lift the tabletop paymentsign from the surface and adjust its angle towards you",
+    "Grab the rectangular paymentsign with stand using the right arm, lift, and rotate until QR code faces you.",
+    "Take the yellow and white payment display from the table, rotating it QR code toward you.",
+    "Pick up the tabletop paymentsign and adjust its position to face the qrcode towards you.",
+    "Use the right arm to grab the tabletop paymentsign, lift, and turn it QR code forward",
+    "Take the white stand sign, lift it, and orient it so the QR faces you",
+    "Pick up the smooth plastic paymentsign with QR code and rotate it so the QR code faces you",
+    "Use the right arm to lift the paymentsign and rotate it QR code toward you.",
+    "Slide the rectangular paymentsign with stand off the table and turn it to face you.",
+    "Use the right arm to grab the plastic smooth paymentsign and rotate the qrcode to face you.",
+    "Pick the plastic smooth paymentsign up and turn its QR code toward you using the right arm.",
+    "Lift the white paymentsign with raised base with the right arm, then rotate it to make the qrcode visible.",
+    "Catch the smooth plastic paymentsign with QR code with the right arm, then rotate it to make the QR code visible.",
+    "Use the right arm to take the sign with yellow payment section and turn it until the QR code faces you",
+    "Use the right arm to grab the yellow panel white paymentsign and point its QR code toward you.",
+    "Find the paymentsign with QR code area, grab it, and turn it towards yourself.",
+    "Catch the white stand sign, lift it, and rotate it QR code facing.",
+    "Lift the smooth plastic paymentsign with QR code from the table and rotate it towards you",
+    "Catch the smooth plastic paymentsign with QR code, lift, and rotate to align the qrcode to you.",
+    "Take the tabletop paymentsign, raise it, and make the qrcode face you.",
+    "Lift the yellow and white payment display from the table and rotate it so the code faces you.",
+    "Catch the rectangular paymentsign with stand, lift it, and adjust its QR code to face you.",
+    "Use the right arm to grab the white stand sign and rotate it until the QR faces forward",
+    "Lift the white paymentsign with raised base and rotate until its qrcode faces you.",
+    "Grab the white paymentsign with raised base, lift it from the table, and rotate it QR front",
+    "Using the right arm, catch the yellow panel white paymentsign and rotate it to face the QR code.",
+    "Pick the yellow and white payment display up, rotate it, and ensure the QR code faces you.",
+    "Use the right arm to grab the paymentsign, rotate, and face the QR code towards you.",
+    "Lift the sign with yellow payment section and rotate it until the QR code faces you.",
+    "Catch the sign with yellow payment section off the table and rotate its qrcode to you.",
+    "Lift the rectangular paymentsign with stand and orient its QR code toward you with the right arm.",
+    "Grab the white paymentsign with raised base using the right arm, then rotate it until the qrcode faces you.",
+    "Catch the white stand sign using the right arm, pick it up, and turn it to face the QR code.",
+    "Pick the yellow panel white paymentsign up, then rotate to make its qrcode visible.",
+    "Use the right arm to lift the tabletop paymentsign from the table and face the qrcode.",
+    "Employ the right arm to seize the sign with yellow payment section, raise it, and rotate it QR-forward",
+    "Lift the white paymentsign with raised base from the table and turn it to face you.",
+    "Grab the rectangular paymentsign with stand, pick it up, and turn its qrcode toward you.",
+    "Lift the sign with yellow payment section and rotate for its qrcode to face you.",
+    "Locate the smooth plastic paymentsign with QR code, pick it up, and adjust its angle.",
+    "Grab the white paymentsign with raised base with the right arm, then rotate it to face yourself.",
+    "Lift the paymentsign with QR code area from the table, turning it QR code forward.",
+    "Catch the tabletop paymentsign, pick it up, and rotate to show the QR code.",
+    "Use the right arm to grab the yellow and white payment display and rotate QR code towards you.",
+    "Catch the white paymentsign with raised base, lift it, and turn the qrcode towards you.",
+    "Use the right arm to pick the white rectangular paymentsign with yellow details and turn it towards you.",
+    "Catch the paymentsign with QR code area, raise it, and turn it so the QR code faces you",
+    "Catch the yellow and white payment display, pick it up, and rotate to view the qrcode.",
+    "Catch and lift the plastic smooth paymentsign, then turn it to show the QR code.",
+    "Grab the rectangular paymentsign with stand using the right arm, then rotate the QR code to face forward.",
+    "Lift the plastic smooth paymentsign from the surface and adjust its angle towards you",
+    "Grab the tabletop paymentsign using the right arm, lift, and rotate until QR code faces you.",
+    "Take the smooth plastic paymentsign with QR code from the table, rotating it QR code toward you.",
+    "Pick up the yellow and white payment display and adjust its position to face the qrcode towards you.",
+    "Use the right arm to grab the yellow panel white paymentsign, lift, and turn it QR code forward",
+    "Take the smooth plastic paymentsign with QR code, lift it, and orient it so the QR faces you",
+    "Pick up the paymentsign and rotate it so the QR code faces you",
+    "Use the right arm to lift the white paymentsign with raised base and rotate it QR code toward you.",
+    "Slide the yellow and white payment display off the table and turn it to face you.",
+    "Use the right arm to grab the paymentsign with QR code area and rotate the qrcode to face you.",
+    "Pick the paymentsign with QR code area up and turn its QR code toward you using the right arm.",
+    "Lift the paymentsign with the right arm, then rotate it to make the qrcode visible."
+  ]
+}
diff --git a/rotate_qrcode/episode_0000031/TCP_third/metadata.json b/rotate_qrcode/episode_0000031/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5c55463dd170ba5e910a4ac73fb6471681273d0
--- /dev/null
+++ b/rotate_qrcode/episode_0000031/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/stamp_seal/episode_0000006/TCP_head/metadata.json b/stamp_seal/episode_0000006/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a2c7d78631378ca041929986ccf63f6f2d49c07
--- /dev/null
+++ b/stamp_seal/episode_0000006/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    142,
+    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_0000006/metadata.json b/stamp_seal/episode_0000006/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..104c8d671b7b1abfb1554fdee6a26a6460588307
--- /dev/null
+++ b/stamp_seal/episode_0000006/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stamp_seal",
+  "episode": "episode_0000006",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stamp_seal/aloha_agilex/data/episode_0000006.hdf5",
+  "num_frames": 142,
+  "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": [
+      142,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      142,
+      14
+    ],
+    "action_shape": [
+      142,
+      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": [
+    "Stamp the brown seal for marking on Olive",
+    "Press the seal with embossed patterns onto Olive",
+    "Place the seal showing carved detailed textures onto Olive after grabbing.",
+    "Use the left arm to pick the brown seal for marking for Olive",
+    "Grab the seal with rounded top, align it with Olive",
+    "the left arm holds the hand-sized carved seal, presses Olive",
+    "Stamp Olive after grabbing the smooth brown seal.",
+    "the left arm uses the brown seal for marking to stamp Olive",
+    "Position the decorative brown stamping seal over Olive and stamp",
+    "Use the left arm, take the compact seal, and apply to Olive.",
+    "Place the seal with rounded top onto Olive",
+    "Grab the seal with embossed patterns with the left arm, press it onto Olive.",
+    "Pick up the carved seal with leaf patterns and press onto Olive",
+    "Stamp Olive after grabbing the hand-sized carved seal",
+    "With the left arm, take the decorative brown stamping seal and mark Olive.",
+    "Lift the stone seal with leaf designs and press onto Olive",
+    "Grab the smooth brown seal and press onto Olive",
+    "Grab the compact seal and press on Olive.",
+    "With the left arm, secure the compact seal and mark Olive.",
+    "Use the left arm for the carved seal with leaf patterns and stamp Olive",
+    "Grab the rectangular seal block to press onto Olive",
+    "Pick the carved seal with leaf patterns and press on Olive",
+    "Take the brown seal and stamp Olive",
+    "Pick up the brown seal for marking, stamp Olive",
+    "Position the decorative brown stamping seal on Olive, apply pressure",
+    "Bring the carved seal with leaf patterns to Olive and stamp",
+    "Pick the compact seal and apply it onto Olive.",
+    "Pick the carved seal with leaf patterns and stamp it on Olive",
+    "Press the stone seal with leaf designs firmly onto Olive",
+    "Hold the seal showing carved detailed textures and press onto Olive",
+    "Grab the seal with rounded top and press onto Olive",
+    "Press the brown seal onto Olive with the left arm",
+    "Set the hand-sized carved seal on Olive",
+    "Use the left arm to grab the compact seal, press Olive",
+    "Use the left arm to press the smooth brown seal on Olive",
+    "Use the left arm to lift the brown seal for marking, then stamp Olive.",
+    "Use the brown seal to stamp Olive",
+    "Hold the brown seal with the left arm and stamp Olive",
+    "Take the seal with embossed patterns and stamp it on Olive.",
+    "Pick the compact seal and press down on Olive",
+    "the left arm picks the seal with embossed patterns, stamps Olive",
+    "Use the rectangular seal block to mark Olive",
+    "the left arm grabs the compact seal, stamps Olive",
+    "Stamp the stone seal with leaf designs on Olive",
+    "Press the brown seal onto Olive",
+    "Place the brown seal onto Olive after grabbing.",
+    "Use the left arm to pick the seal with embossed patterns for Olive",
+    "Grab the rectangular seal block, align it with Olive",
+    "the left arm holds the decorative brown stamping seal, presses Olive",
+    "Stamp Olive after grabbing the brown seal for marking.",
+    "the left arm uses the seal with rounded top to stamp Olive",
+    "Position the smooth brown seal over Olive and stamp",
+    "Use the left arm, take the seal with embossed patterns, and apply to Olive.",
+    "Place the hand-sized carved seal onto Olive",
+    "Grab the seal with rounded top with the left arm, press it onto Olive.",
+    "Pick up the brown seal for marking and press onto Olive",
+    "Stamp Olive after grabbing the seal with embossed patterns",
+    "With the left arm, take the seal with rounded top and mark Olive.",
+    "Lift the decorative brown stamping seal and press onto Olive",
+    "Grab the seal with rounded top and press onto Olive",
+    "Grab the carved seal with leaf patterns and press on Olive.",
+    "With the left arm, secure the seal with rounded top and mark Olive.",
+    "Use the left arm for the rectangular seal block and stamp Olive",
+    "Grab the smooth brown seal to press onto Olive",
+    "Pick the brown seal and press on Olive",
+    "Take the decorative brown stamping seal and stamp Olive",
+    "Pick up the brown seal for marking, stamp Olive",
+    "Position the stone seal with leaf designs on Olive, apply pressure",
+    "Bring the stone seal with leaf designs to Olive and stamp",
+    "Pick the brown seal and apply it onto Olive.",
+    "Pick the seal with rounded top and stamp it on Olive",
+    "Press the decorative brown stamping seal firmly onto Olive",
+    "Hold the smooth brown seal and press onto Olive",
+    "Grab the carved seal with leaf patterns and press onto Olive",
+    "Press the seal with embossed patterns onto Olive with the left arm",
+    "Set the decorative brown stamping seal on Olive",
+    "Use the left arm to grab the decorative brown stamping seal, press Olive",
+    "Use the left arm to press the compact seal on Olive",
+    "Use the left arm to lift the seal with rounded top, then stamp Olive.",
+    "Use the seal with embossed patterns to stamp Olive",
+    "Hold the smooth brown seal with the left arm and stamp Olive",
+    "Take the decorative brown stamping seal and stamp it on Olive.",
+    "Pick the brown seal for marking and press down on Olive",
+    "the left arm picks the carved seal with leaf patterns, stamps Olive",
+    "Use the seal with rounded top to mark Olive",
+    "the left arm grabs the brown seal, stamps Olive",
+    "Stamp the seal showing carved detailed textures on Olive",
+    "Press the decorative brown stamping seal onto Olive",
+    "Place the carved seal with leaf patterns onto Olive after grabbing.",
+    "Use the left arm to pick the seal showing carved detailed textures for Olive",
+    "Grab the seal with rounded top, align it with Olive",
+    "the left arm holds the seal with rounded top, presses Olive",
+    "Stamp Olive after grabbing the seal with rounded top.",
+    "the left arm uses the hand-sized carved seal to stamp Olive",
+    "Position the rectangular seal block over Olive and stamp",
+    "Use the left arm, take the brown seal for marking, and apply to Olive.",
+    "Place the carved seal with leaf patterns onto Olive",
+    "Grab the decorative brown stamping seal with the left arm, press it onto Olive.",
+    "Pick up the smooth brown seal and press onto Olive",
+    "Stamp Olive after grabbing the brown seal"
+  ]
+}
diff --git a/stamp_seal/episode_0000009/TCP_head/metadata.json b/stamp_seal/episode_0000009/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..24baf806cf77605345dd80e4b28a58791e7708e6
--- /dev/null
+++ b/stamp_seal/episode_0000009/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    149,
+    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_0000009/TCP_third/metadata.json b/stamp_seal/episode_0000009/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb093b74de0aa102cfd1f3530667f5951d564d51
--- /dev/null
+++ b/stamp_seal/episode_0000009/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    149,
+    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_0000009/metadata.json b/stamp_seal/episode_0000009/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..24c842553c87f0bf91021363903d5a25551256aa
--- /dev/null
+++ b/stamp_seal/episode_0000009/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stamp_seal",
+  "episode": "episode_0000009",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stamp_seal/aloha_agilex/data/episode_0000009.hdf5",
+  "num_frames": 149,
+  "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": [
+      149,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      149,
+      14
+    ],
+    "action_shape": [
+      149,
+      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 light beige ridged handle seal to press onto Coral",
+    "Stamp Coral after grabbing the light beige ridged handle seal",
+    "Position the seal for marking over Coral and stamp",
+    "Set the compact stamping seal on Coral",
+    "Position the yellow seal on Coral, apply pressure",
+    "Use the left arm, take the compact stamping seal, and apply to Coral.",
+    "Stamp Coral after grabbing the seal with vertical textured grip.",
+    "the left arm holds the seal for marking, presses Coral",
+    "Use the left arm to press the yellow seal with ridged grip on Coral",
+    "Hold the compact stamping seal with the left arm and stamp Coral",
+    "Use the seal with vertical textured grip to stamp Coral",
+    "the left arm picks the compact stamping seal, stamps Coral",
+    "the left arm uses the seal with vertical textured grip to stamp Coral",
+    "Lift the seal with smooth yellow bottom and press onto Coral",
+    "Pick the small seal with round base and apply it onto Coral.",
+    "Grab the compact stamping seal and press onto Coral",
+    "Stamp the light beige ridged handle seal on Coral",
+    "Pick up the seal with vertical textured grip, stamp Coral",
+    "Place the handheld seal with yellow bottom onto Coral",
+    "Use the left arm to grab the yellow seal with ridged grip, press Coral",
+    "Pick up the seal with wooden-like grip and press onto Coral",
+    "the left arm grabs the light beige ridged handle seal, stamps Coral",
+    "Place the seal for marking onto Coral after grabbing.",
+    "Grab the yellow seal with ridged grip and press on Coral.",
+    "Use the left arm to pick the seal with vertical textured grip for Coral",
+    "With the left arm, secure the handheld seal with yellow bottom and mark Coral.",
+    "Bring the light beige ridged handle seal to Coral and stamp",
+    "Use the left arm to lift the seal with smooth yellow bottom, then stamp Coral.",
+    "Take the yellow seal with ridged grip and stamp Coral",
+    "Press the small seal with round base onto Coral with the left arm",
+    "Pick the light beige ridged handle seal and stamp it on Coral",
+    "Grab the light beige ridged handle seal with the left arm, press it onto Coral.",
+    "Press the seal with wooden-like grip firmly onto Coral",
+    "Grab the round yellow seal base and press onto Coral",
+    "Pick the seal with smooth yellow bottom and press on Coral",
+    "Use the left arm for the seal for marking and stamp Coral",
+    "Use the yellow seal with ridged grip to mark Coral",
+    "Pick the seal with wooden-like grip and press down on Coral",
+    "With the left arm, take the small seal with round base and mark Coral.",
+    "Take the seal with wooden-like grip and stamp it on Coral.",
+    "Hold the yellow stamping tool and press onto Coral",
+    "Grab the seal for marking, align it with Coral",
+    "Press the small seal with round base onto Coral",
+    "Grab the handheld seal with yellow bottom to press onto Coral",
+    "Stamp Coral after grabbing the seal with smooth yellow bottom",
+    "Position the seal for marking over Coral and stamp",
+    "Set the yellow seal with ridged grip on Coral",
+    "Position the light beige ridged handle seal on Coral, apply pressure",
+    "Use the left arm, take the yellow seal with ridged grip, and apply to Coral.",
+    "Stamp Coral after grabbing the yellow seal.",
+    "the left arm holds the yellow stamping tool, presses Coral",
+    "Use the left arm to press the yellow stamping tool on Coral",
+    "Hold the seal with vertical textured grip with the left arm and stamp Coral",
+    "Use the light beige ridged handle seal to stamp Coral",
+    "the left arm picks the yellow seal with ridged grip, stamps Coral",
+    "the left arm uses the yellow stamping tool to stamp Coral",
+    "Lift the yellow stamping tool and press onto Coral",
+    "Pick the compact stamping seal and apply it onto Coral.",
+    "Grab the yellow seal and press onto Coral",
+    "Stamp the light beige ridged handle seal on Coral",
+    "Pick up the seal with smooth yellow bottom, stamp Coral",
+    "Place the light beige ridged handle seal onto Coral",
+    "Use the left arm to grab the compact stamping seal, press Coral",
+    "Pick up the seal with smooth yellow bottom and press onto Coral",
+    "the left arm grabs the seal with vertical textured grip, stamps Coral",
+    "Place the seal with vertical textured grip onto Coral after grabbing.",
+    "Grab the seal with vertical textured grip and press on Coral.",
+    "Use the left arm to pick the small seal with round base for Coral",
+    "With the left arm, secure the seal with smooth yellow bottom and mark Coral.",
+    "Bring the handheld seal with yellow bottom to Coral and stamp",
+    "Use the left arm to lift the round yellow seal base, then stamp Coral.",
+    "Take the compact stamping seal and stamp Coral",
+    "Press the handheld seal with yellow bottom onto Coral with the left arm",
+    "Pick the yellow seal and stamp it on Coral",
+    "Grab the seal with wooden-like grip with the left arm, press it onto Coral.",
+    "Press the small seal with round base firmly onto Coral",
+    "Grab the handheld seal with yellow bottom and press onto Coral",
+    "Pick the small seal with round base and press on Coral",
+    "Use the left arm for the seal with wooden-like grip and stamp Coral",
+    "Use the seal with smooth yellow bottom to mark Coral",
+    "Pick the seal with wooden-like grip and press down on Coral",
+    "With the left arm, take the yellow seal and mark Coral.",
+    "Take the small seal with round base and stamp it on Coral.",
+    "Hold the light beige ridged handle seal and press onto Coral",
+    "Grab the seal with smooth yellow bottom, align it with Coral",
+    "Press the seal for marking onto Coral",
+    "Grab the seal for marking to press onto Coral",
+    "Stamp Coral after grabbing the yellow seal with ridged grip",
+    "Position the seal with wooden-like grip over Coral and stamp",
+    "Set the light beige ridged handle seal on Coral",
+    "Position the seal for marking on Coral, apply pressure",
+    "Use the left arm, take the yellow seal, and apply to Coral.",
+    "Stamp Coral after grabbing the seal with smooth yellow bottom.",
+    "the left arm holds the seal with smooth yellow bottom, presses Coral",
+    "Use the left arm to press the yellow seal on Coral",
+    "Hold the small seal with round base with the left arm and stamp Coral",
+    "Use the yellow seal with ridged grip to stamp Coral",
+    "the left arm picks the compact stamping seal, stamps Coral",
+    "the left arm uses the small seal with round base to stamp Coral",
+    "Lift the yellow stamping tool and press onto Coral"
+  ]
+}