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diff --git a/place_bread_basket/episode_0000014/TCP_third/metadata.json b/place_bread_basket/episode_0000014/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe71e68515db210406a7171ece3990695433a85b
--- /dev/null
+++ b/place_bread_basket/episode_0000014/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    241,
+    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_bread_basket/episode_0000026/TCP_head/metadata.json b/place_bread_basket/episode_0000026/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..56d44e512c8846794996a4a2c18268222cf0ef2b
--- /dev/null
+++ b/place_bread_basket/episode_0000026/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    243,
+    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_cans_plasticbox/episode_0000005/TCP_head/metadata.json b/place_cans_plasticbox/episode_0000005/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dc8be427bef28085c3524ae6d9f0919632e8314
--- /dev/null
+++ b/place_cans_plasticbox/episode_0000005/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    303,
+    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_cans_plasticbox/episode_0000005/metadata.json b/place_cans_plasticbox/episode_0000005/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4fa2610a6dc5bcfff794015c9de6bb00ec4f359
--- /dev/null
+++ b/place_cans_plasticbox/episode_0000005/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_cans_plasticbox",
+  "episode": "episode_0000005",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_cans_plasticbox/aloha_agilex/data/episode_0000005.hdf5",
+  "num_frames": 303,
+  "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": [
+      303,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      303,
+      14
+    ],
+    "action_shape": [
+      303,
+      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": [
+    "Grasp the white can with 3D RADY label and the colorful can with lime and orange design together; transfer the white can with 3D RADY label, then the colorful can with lime and orange design, to the plasticbox with hinged lid.",
+    "Lift the small white can with branding and the smooth cylindrical can with lime pattern, and stick them into the blue plasticbox for storing things",
+    "Both arms lift the can with gold top lid and the small soda can with lime graphics, then place them in the plasticbox for keeping items safe.",
+    "Place the white can with 3D RADY label and the can with red green label in the plasticbox for keeping items safe using both arms.",
+    "Lift the red-orange text on white can and the soda can with lime illustration together, then place both in the plasticbox with hinged lid.",
+    "Place the cylindrical white glossy can and the drink can with bright colors into the plasticbox for carrying items using both arms.",
+    "Move the cylindrical white glossy can and the beverage can with red green graphics into the boxy light blue plasticbox using separate arms.",
+    "Lift the white can and the metal can with pull-tab top together, then place each in the light blue plasticbox.",
+    "Grab the medium metal can and the drink can with bright colors together, then transfer them to the rectangular plasticbox with rounded edges.",
+    "Pick the white can with 3D RADY label and the metal can with pull-tab top together, then move both into the plasticbox for carrying items.",
+    "Place the white can with 3D RADY label into the plasticbox with hinged lid, then place the colorful can with lime and orange design into the plasticbox with hinged lid.",
+    "Use both arms to place the white can with 3D RADY label and the soda can with lime illustration inside the blue plasticbox for storing things.",
+    "Pick up the cylindrical white glossy can and the smooth cylindrical can with lime pattern with separate arms, then fill the plasticbox for carrying items.",
+    "Grab the beverage can with printed label and the drink can with bright colors together, then insert each into the rectangular plasticbox with rounded edges.",
+    "Use your arms to set the small white can with branding and the metallic drink can with pull-tab gently into the plasticbox with rounded corners and lid.",
+    "Use both arms to move the beverage can with printed label and the smooth cylindrical can with lime pattern into the blue plasticbox for storing things.",
+    "Use dual arms to pick the smooth white can with accents and the metal can with pull-tab top, placing both in the boxy light blue plasticbox.",
+    "Pick the can with red-orange text and the beverage can with red green graphics together, then drop each into the boxy light blue plasticbox",
+    "Lift the can with gold top lid and the smooth cylindrical can with lime pattern simultaneously, then set them into the blue plasticbox for storing things.",
+    "Drop the small white can with branding and the smooth cylindrical can with lime pattern into the rectangular plasticbox with rounded edges with both arms",
+    "Transfer the can with sealed gold top into the plasticbox for keeping items safe, then position the drink can with bright colors within the plasticbox for keeping items safe.",
+    "Pick and drop the red-orange text on white can and the smooth cylindrical can with lime pattern into the plasticbox for carrying items.",
+    "First move the small white can with branding to the light blue rectangular storage plasticbox, then move the soda can with lime illustration into the light blue rectangular storage plasticbox.",
+    "Grip the white can with 3D RADY label and the soda can with lime illustration simultaneously, then insert both into the plasticbox for keeping items safe.",
+    "Transfer the can with rounded cylindrical shape to the plasticbox with smooth plastic texture, then transfer the beverage can with red green graphics to the plasticbox with smooth plastic texture.",
+    "Use both arms, position the beverage can with printed label and the red green beverage can within the plasticbox with rounded corners and lid.",
+    "Use both arms to grab the small white can with branding and the colorful can with lime and orange design, place them in the durable plasticbox with side handle.",
+    "Place the medium metal can and the colorful can with lime and orange design into the light blue rectangular storage plasticbox with dual arms",
+    "Use both arms to place the red-orange text on white can and the drink can with bright colors into the plasticbox with hinged lid.",
+    "First grasp the smooth white can with accents and the drink can with bright colors together, then place both in the plasticbox with smooth plastic texture.",
+    "Use both arms to pick the small white can with branding and the beverage can with red green graphics together for the durable plasticbox with side handle.",
+    "Move the can with rounded cylindrical shape to the boxy light blue plasticbox and repeat with the metallic drink can with pull-tab.",
+    "Place the red-orange text on white can in the rectangular plasticbox with rounded edges, follow with the metallic drink can with pull-tab using each arm.",
+    "Pick the white can and the red green beverage can together, then move each into the light blue plasticbox",
+    "Pick the medium metal can and the green red metallic soda can using both arms and put them in the smooth blue plasticbox with handle",
+    "With both arms, transfer the can with sealed gold top and the green red metallic soda can into the light blue rectangular storage plasticbox.",
+    "After grasping the can with red-orange text and the can with red green label together, place each into the light blue rectangular storage plasticbox.",
+    "Use both arms to move the can with sealed gold top and the smooth cylindrical can with lime pattern into the plasticbox for keeping items safe",
+    "Begin with the smooth white can with accents, place it in the boxy light blue plasticbox, finish with the metal can with pull-tab top into the boxy light blue plasticbox.",
+    "Use arms to set the can with gold top lid and the beverage can with red green graphics into the light blue rectangular storage plasticbox.",
+    "Pick the white can and the small soda can with lime graphics together; place the white can, then the small soda can with lime graphics, in the rectangular plasticbox with rounded edges.",
+    "Pick the medium metal can and the can with red green label simultaneously, then place them inside the boxy light blue plasticbox.",
+    "Grasp the white can and the small soda can with lime graphics simultaneously, then place both in the plasticbox for carrying items.",
+    "Using dual arms, place the beverage can with printed label and the small soda can with lime graphics inside the plasticbox with smooth plastic texture",
+    "Lift the beverage can with printed label and the small soda can with lime graphics, then set them inside the rectangular plasticbox with rounded edges",
+    "Use the arms to transfer the red-orange text on white can and the red green can into the plasticbox for carrying items.",
+    "Pick the can with gold top lid and the red green beverage can together, then put both inside the rectangular plasticbox with rounded edges.",
+    "Employ both arms to pick the cylindrical white glossy can and the colorful can with lime and orange design, and place them inside the boxy light blue plasticbox.",
+    "Utilize the arms to deposit both the can with red-orange text and the metal can with pull-tab top into the light blue rectangular storage plasticbox.",
+    "Transfer the can with rounded cylindrical shape and the soda can with lime illustration into the smooth blue plasticbox with handle using dual arms",
+    "Grasp the white can and the green red metallic soda can together; transfer the white can, then the green red metallic soda can, to the smooth blue plasticbox with handle.",
+    "Lift the can with rounded cylindrical shape and the beverage can with red green graphics, and stick them into the rectangular plasticbox with rounded edges",
+    "Both arms lift the medium metal can and the red green can, then place them in the plasticbox for keeping items safe.",
+    "Place the smooth white can with accents and the small soda can with lime graphics in the plasticbox with rounded corners and lid using both arms.",
+    "Lift the can with red-orange text and the can with red green label together, then place both in the plasticbox for keeping items safe.",
+    "Place the smooth white can with accents and the metallic drink can with pull-tab into the light blue rectangular storage plasticbox using both arms.",
+    "Move the medium metal can and the soda can with lime illustration into the light blue rectangular storage plasticbox using separate arms.",
+    "Lift the medium metal can and the colorful can with lime and orange design together, then place each in the plasticbox with rounded corners and lid.",
+    "Grab the small white can with branding and the small soda can with lime graphics together, then transfer them to the plasticbox for keeping items safe.",
+    "Pick the white can with 3D RADY label and the smooth cylindrical can with lime pattern together, then move both into the light blue plasticbox.",
+    "Place the red-orange text on white can into the plasticbox with smooth plastic texture, then place the red green beverage can into the plasticbox with smooth plastic texture.",
+    "Use both arms to place the can with red-orange text and the red green beverage can inside the blue plasticbox for storing things.",
+    "Pick up the white can and the red green can with separate arms, then fill the light blue rectangular storage plasticbox.",
+    "Grab the red-orange text on white can and the green red metallic soda can together, then insert each into the plasticbox with rounded corners and lid.",
+    "Use your arms to set the can with red-orange text and the green red metallic soda can gently into the durable plasticbox with side handle.",
+    "Use both arms to move the white can with 3D RADY label and the metal can with pull-tab top into the plasticbox for carrying items.",
+    "Use dual arms to pick the smooth white can with accents and the metal can with pull-tab top, placing both in the plasticbox for keeping items safe.",
+    "Pick the cylindrical white glossy can and the small soda can with lime graphics together, then drop each into the durable plasticbox with side handle",
+    "Lift the can with red-orange text and the green red metallic soda can simultaneously, then set them into the rectangular plasticbox with rounded edges.",
+    "Drop the red-orange text on white can and the red green can into the plasticbox with rounded corners and lid with both arms",
+    "Transfer the can with rounded cylindrical shape into the blue plasticbox for storing things, then position the beverage can with red green graphics within the blue plasticbox for storing things.",
+    "Pick and drop the can with sealed gold top and the small soda can with lime graphics into the plasticbox with smooth plastic texture.",
+    "First move the white can to the plasticbox with rounded corners and lid, then move the metallic drink can with pull-tab into the plasticbox with rounded corners and lid.",
+    "Grip the white can and the red green can simultaneously, then insert both into the smooth blue plasticbox with handle.",
+    "Transfer the small white can with branding to the plasticbox with rounded corners and lid, then transfer the soda can with lime illustration to the plasticbox with rounded corners and lid.",
+    "Use both arms, position the small white can with branding and the beverage can with red green graphics within the blue plasticbox for storing things.",
+    "Use both arms to grab the red-orange text on white can and the small soda can with lime graphics, place them in the plasticbox with hinged lid.",
+    "Place the white can with 3D RADY label and the metallic drink can with pull-tab into the smooth blue plasticbox with handle with dual arms",
+    "Use both arms to place the small white can with branding and the metal can with pull-tab top into the rectangular plasticbox with rounded edges.",
+    "First grasp the beverage can with printed label and the beverage can with red green graphics together, then place both in the blue plasticbox for storing things.",
+    "Use both arms to pick the can with red-orange text and the metallic drink can with pull-tab together for the boxy light blue plasticbox.",
+    "Move the white can to the boxy light blue plasticbox and repeat with the green red metallic soda can.",
+    "Place the can with sealed gold top in the smooth blue plasticbox with handle, follow with the can with red green label using each arm.",
+    "Pick the can with gold top lid and the metal can with pull-tab top together, then move each into the light blue rectangular storage plasticbox",
+    "Pick the white can with 3D RADY label and the soda can with lime illustration using both arms and put them in the rectangular plasticbox with rounded edges",
+    "With both arms, transfer the smooth white can with accents and the metallic drink can with pull-tab into the light blue plasticbox.",
+    "After grasping the can with rounded cylindrical shape and the can with red green label together, place each into the light blue rectangular storage plasticbox.",
+    "Use both arms to move the can with rounded cylindrical shape and the red green can into the light blue rectangular storage plasticbox",
+    "Begin with the small white can with branding, place it in the plasticbox for keeping items safe, finish with the soda can with lime illustration into the plasticbox for keeping items safe.",
+    "Use arms to set the beverage can with printed label and the can with red green label into the plasticbox with rounded corners and lid.",
+    "Pick the can with gold top lid and the small soda can with lime graphics together; place the can with gold top lid, then the small soda can with lime graphics, in the smooth blue plasticbox with handle.",
+    "Pick the beverage can with printed label and the small soda can with lime graphics simultaneously, then place them inside the plasticbox for keeping items safe.",
+    "Grasp the can with red-orange text and the soda can with lime illustration simultaneously, then place both in the durable plasticbox with side handle.",
+    "Using dual arms, place the can with red-orange text and the can with red green label inside the plasticbox with rounded corners and lid",
+    "Lift the small white can with branding and the red green can, then set them inside the blue plasticbox for storing things",
+    "Use the arms to transfer the can with sealed gold top and the metallic drink can with pull-tab into the rectangular plasticbox with rounded edges.",
+    "Pick the can with rounded cylindrical shape and the colorful can with lime and orange design together, then put both inside the light blue plasticbox.",
+    "Employ both arms to pick the can with sealed gold top and the green red metallic soda can, and place them inside the durable plasticbox with side handle.",
+    "Utilize the arms to deposit both the can with sealed gold top and the can with red green label into the light blue plasticbox.",
+    "Transfer the beverage can with printed label and the drink can with bright colors into the blue plasticbox for storing things using dual arms"
+  ]
+}
diff --git a/place_empty_cup/episode_0000015/TCP_head/metadata.json b/place_empty_cup/episode_0000015/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ce91be22e643b87a6290a98f9a53b2684c465b
--- /dev/null
+++ b/place_empty_cup/episode_0000015/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    181,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_empty_cup/episode_0000015/metadata.json b/place_empty_cup/episode_0000015/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3733cce43d13583ac8e6e48bfc48c379421800f1
--- /dev/null
+++ b/place_empty_cup/episode_0000015/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_empty_cup",
+  "episode": "episode_0000015",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_empty_cup/aloha_agilex/data/episode_0000015.hdf5",
+  "num_frames": 181,
+  "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": [
+      181,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      181,
+      14
+    ],
+    "action_shape": [
+      181,
+      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 arm to position the rounded base blue cup onto the flat surface gray wooden coaster.",
+    "Align the rounded base blue cup and set it down on the flat surface gray wooden coaster",
+    "Drop the medium-sized plastic blue cup on top of the coaster made of smooth wood.",
+    "Grab the blue rounded-bottom cup and lower it onto the light gray streaked wooden coaster",
+    "Move the smooth blue drinking cup to the small coaster with grain texture using the arm.",
+    "Use the arm to position the rounded base blue cup on the coaster made of smooth wood.",
+    "Grab the light blue plastic cup, then place it onto the round coaster with light streaks.",
+    "Position the smooth blue cup for liquids above and drop it on the flat round wooden coaster",
+    "Pick the plastic cup for drinks up and drop it on the coaster with circular shape.",
+    "Stick the cylindrical light blue cup onto the round coaster using the arm",
+    "Set the blue rounded-bottom cup on the grainy texture coaster using the arm.",
+    "Move the light blue plastic cup using the arm onto the smooth round palm-sized coaster.",
+    "Carefully place the smooth blue cup for liquids onto the round coaster without arm",
+    "Grab the cup with light blue color and place it over the flat surface gray wooden coaster.",
+    "Direct the rounded base blue cup to the coaster made of smooth wood and let it rest.",
+    "Using the arm, align the rounded base blue cup over the light gray streaked wooden coaster",
+    "Use an arm to place the cup for holding liquids on the wooden coaster",
+    "Position the smooth blue cup for liquids on the round coaster with light streaks with the arm.",
+    "Position the cup with light blue color carefully on the round coaster with light streaks",
+    "Stick the cylindrical light blue cup onto the light gray round grainy coaster carefully.",
+    "Slide the blue rounded-bottom cup onto the grainy texture coaster with the arm.",
+    "Lift the light blue plastic cup and place it over the flat round wooden coaster",
+    "Move the light blue plastic cup onto the round coaster with the arm",
+    "Lift the medium blue cylindrical cup and place it onto the flat surface gray wooden coaster.",
+    "Use the arm to slide the medium blue cylindrical cup onto the grainy texture coaster.",
+    "Lift the medium-sized plastic blue cup and stick it onto the round coaster.",
+    "Place the rounded base blue cup on top of the coaster with circular shape",
+    "Relocate the blue rounded-bottom cup precisely onto the small coaster with grain texture with arm",
+    "Use the arm to put the medium blue cylindrical cup onto the smooth round palm-sized coaster.",
+    "Set the medium blue cylindrical cup onto the flat round wooden coaster using the arm.",
+    "Set the cup with smooth plastic surface securely on the round coaster using the arm.",
+    "Use an arm to drop the light blue plastic cup on the light gray round grainy coaster",
+    "Drop the rounded base blue cup firmly on the flat surface gray wooden coaster using arm",
+    "Make sure the rounded base blue cup ends up on the wooden coaster.",
+    "Using the arm, drop the rounded base blue cup onto the grainy texture coaster.",
+    "Slide the medium blue cylindrical cup onto the round coaster with light streaks",
+    "Use an arm to drop the plastic cup for drinks on the flat round wooden coaster.",
+    "Using the arm, slide the rounded base blue cup onto the round coaster.",
+    "Slide the rounded base blue cup gently onto the round coaster with light streaks via the arm.",
+    "Lift the cup for holding liquids up and drop it on the round coaster.",
+    "Grab the medium-sized plastic blue cup and place it on the light gray streaked wooden coaster.",
+    "Move the smooth blue drinking cup to the flat round wooden coaster",
+    "Set the cup with light blue color carefully onto the light gray streaked wooden coaster",
+    "Use arm to place the light blue plastic cup on the flat round wooden coaster",
+    "Use the arm to set the medium-sized plastic blue cup on the grainy texture coaster",
+    "Set the smooth blue cup for liquids down on the flat surface gray wooden coaster",
+    "Grab the smooth blue cup for liquids and set it onto the smooth round palm-sized coaster.",
+    "Move the plastic cup for drinks to the light gray round grainy coaster and set it down.",
+    "Stick the plastic cup for drinks onto the flat surface gray wooden coaster using the arm.",
+    "Position the medium blue cylindrical cup squarely on top of the round coaster with light streaks.",
+    "Use the arm to position the medium blue cylindrical cup onto the small coaster with grain texture.",
+    "Align the light blue plastic cup and set it down on the small coaster with grain texture",
+    "Drop the medium-sized plastic blue cup on top of the small coaster with grain texture.",
+    "Grab the blue rounded-bottom cup and lower it onto the small coaster with grain texture",
+    "Move the blue rounded-bottom cup to the light gray round grainy coaster using the arm.",
+    "Use the arm to position the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Grab the plastic cup for drinks, then place it onto the wooden coaster.",
+    "Position the plastic cup for drinks above and drop it on the grainy texture coaster",
+    "Pick the cup for holding liquids up and drop it on the flat round wooden coaster.",
+    "Stick the cup with smooth plastic surface onto the small coaster with grain texture using the arm",
+    "Set the smooth blue cup for liquids on the wooden coaster using the arm.",
+    "Move the cup for holding liquids using the arm onto the flat round wooden coaster.",
+    "Carefully place the plastic cup for drinks onto the small coaster with grain texture without arm",
+    "Grab the medium blue cylindrical cup and place it over the light gray streaked wooden coaster.",
+    "Direct the cup with smooth plastic surface to the flat surface gray wooden coaster and let it rest.",
+    "Using the arm, align the smooth blue drinking cup over the flat round wooden coaster",
+    "Use an arm to place the medium blue cylindrical cup on the round coaster",
+    "Position the medium blue cylindrical cup on the coaster made of smooth wood with the arm.",
+    "Position the light blue plastic cup carefully on the wooden coaster",
+    "Stick the light blue plastic cup onto the round coaster carefully.",
+    "Slide the cup with light blue color onto the round coaster with light streaks with the arm.",
+    "Lift the cylindrical light blue cup and place it over the smooth round palm-sized coaster",
+    "Move the medium blue cylindrical cup onto the grainy texture coaster with the arm",
+    "Lift the blue rounded-bottom cup and place it onto the coaster with circular shape.",
+    "Use the arm to slide the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Lift the rounded base blue cup and stick it onto the smooth round palm-sized coaster.",
+    "Place the blue rounded-bottom cup on top of the coaster with circular shape",
+    "Relocate the cup for holding liquids precisely onto the grainy texture coaster with arm",
+    "Use the arm to put the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Set the light blue plastic cup onto the round coaster using the arm.",
+    "Set the smooth blue drinking cup securely on the light gray streaked wooden coaster using the arm.",
+    "Use an arm to drop the smooth blue cup for liquids on the wooden coaster",
+    "Drop the cylindrical light blue cup firmly on the grainy texture coaster using arm",
+    "Make sure the plastic cup for drinks ends up on the grainy texture coaster.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the coaster made of smooth wood.",
+    "Slide the cup for holding liquids onto the wooden coaster",
+    "Use an arm to drop the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Using the arm, slide the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Slide the smooth blue drinking cup gently onto the round coaster with light streaks via the arm.",
+    "Lift the light blue plastic cup up and drop it on the coaster with circular shape.",
+    "Grab the cylindrical light blue cup and place it on the light gray round grainy coaster.",
+    "Move the medium blue cylindrical cup to the light gray streaked wooden coaster",
+    "Set the cup with light blue color carefully onto the light gray streaked wooden coaster",
+    "Use arm to place the smooth blue cup for liquids on the coaster made of smooth wood",
+    "Use the arm to set the smooth blue cup for liquids on the flat surface gray wooden coaster",
+    "Set the blue rounded-bottom cup down on the smooth round palm-sized coaster",
+    "Grab the cup with smooth plastic surface and set it onto the coaster with circular shape.",
+    "Move the blue rounded-bottom cup to the flat round wooden coaster and set it down.",
+    "Stick the medium blue cylindrical cup onto the smooth round palm-sized coaster using the arm.",
+    "Position the cup with light blue color squarely on top of the smooth round palm-sized coaster."
+  ]
+}
diff --git a/place_empty_cup/episode_0000034/TCP_third/metadata.json b/place_empty_cup/episode_0000034/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd0ef64d94b231c91834316b6bfbf9c00f188c3e
--- /dev/null
+++ b/place_empty_cup/episode_0000034/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    172,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_mouse_pad/episode_0000008/TCP_head/metadata.json b/place_mouse_pad/episode_0000008/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..af0b405ef9cecc8c89cd5c5117deaa8669ab80c3
--- /dev/null
+++ b/place_mouse_pad/episode_0000008/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    194,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_mouse_pad/episode_0000008/metadata.json b/place_mouse_pad/episode_0000008/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..306f8e3957711b108ac3462d03d2aa22a4733af4
--- /dev/null
+++ b/place_mouse_pad/episode_0000008/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_mouse_pad",
+  "episode": "episode_0000008",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_mouse_pad/aloha_agilex/data/episode_0000008.hdf5",
+  "num_frames": 194,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      194,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      194,
+      14
+    ],
+    "action_shape": [
+      194,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Grab the dark mouse with slight textured sides using the right arm and place it on the Gray mat.",
+    "Take hold of the dark mouse with slight textured sides and place it on the Gray mat.",
+    "Take the gray mouse and adjust it to rest on the Gray mat.",
+    "Lift the computer mouse and position it on the Gray mat.",
+    "With the right arm, take the mouse with scroll wheel in center and set it on Gray mat.",
+    "Use the right arm to pick the oval-shaped mouse for computer use up and set it on the Gray colored mat.",
+    "Grip the gray mouse using the right arm and move it to the Gray mat.",
+    "Use the right arm to grab the dark ergonomic mouse for computer navigation and set it on the Gray mat.",
+    "Pick the gray mouse with the right arm and move it to the Gray mat.",
+    "Lift the mouse with two buttons and a scroll wheel and place it onto Gray mat.",
+    "Hold the oval-shaped mouse for computer use and transfer it to the Gray mat.",
+    "Using the right arm, grab the mouse with curved ergonomic shape and place it on Gray colored mat.",
+    "With the right arm, grab the plastic mouse with smooth finish and position it on the Gray mat.",
+    "Pick up the small mouse with smooth surface with the right arm and place it on the Gray mat.",
+    "Use the right arm to grab the plastic mouse with smooth finish and position it onto the Gray mat.",
+    "Lift the mouse with curved ergonomic shape using the right arm and drop it on the Gray colored mat.",
+    "Lift the computer mouse and put it down onto the Gray mat.",
+    "Use the right arm to grab the dark ergonomic mouse for computer navigation and place it on the Gray colored mat.",
+    "Grab the computer mouse and position it onto the Gray mat.",
+    "Grab the plastic mouse with smooth finish and place it firmly on the Gray mat.",
+    "Slide the gray mouse onto the Gray mat gently.",
+    "Lift the oval-shaped mouse for computer use with the right arm and place it on the Gray mat.",
+    "With the right arm, pick up the oval-shaped mouse for computer use and lay it on Gray mat.",
+    "Using the right arm, pick the rounded top mouse with glossy logo and position it on Gray colored mat.",
+    "Use the right arm to lift the gray mouse and set it on the Gray mat.",
+    "Lift the dark mouse with slight textured sides and set it down on the Gray mat.",
+    "Grip the rounded top mouse with glossy logo and move it onto the Gray mat.",
+    "Pick up the mouse with curved ergonomic shape with the right arm and move it to the Gray mat.",
+    "Grab the rounded top mouse with glossy logo and drop it on Gray mat.",
+    "Lift the small mouse with smooth surface using the right arm and move it to the Gray mat.",
+    "Pick up the rounded top mouse with glossy logo and set it on the Gray colored mat.",
+    "Take hold of the mouse with curved ergonomic shape with the right arm and drop it on the Gray mat.",
+    "Use the right arm to grab the small mouse with smooth surface and drop it on the Gray colored mat.",
+    "Use the right arm to pick the gray mouse and place it on the Gray mat.",
+    "Grab the dark ergonomic mouse for computer navigation and move it onto the Gray mat.",
+    "With the right arm, grab the computer mouse and position it on Gray mat.",
+    "Lift the dark ergonomic mouse for computer navigation up with the right arm and stick it onto the Gray mat.",
+    "Pick the gray mouse and place it on the Gray colored mat.",
+    "Take the plastic mouse with smooth finish and put it on the Gray mat.",
+    "Take the mouse with curved ergonomic shape and put it onto Gray mat.",
+    "Position the dark ergonomic mouse for computer navigation on the Gray mat by picking it up.",
+    "Take the computer mouse and place it on the Gray mat.",
+    "Using the right arm, grab the mouse with curved ergonomic shape and set it on the Gray mat.",
+    "Lift the gray mouse using the right arm and stick it on the Gray mat.",
+    "Grab the computer mouse with the right arm and lay it onto the Gray colored mat.",
+    "Hold the dark mouse with slight textured sides and carefully place it on the Gray mat.",
+    "Take the plastic mouse with smooth finish and place it on the Gray colored mat.",
+    "Lift the rounded top mouse with glossy logo and stick it on Gray mat.",
+    "Pick up the rounded top mouse with glossy logo and move it to Gray mat.",
+    "Take the gray mouse and place it onto the Gray mat.",
+    "Grab the dark ergonomic mouse for computer navigation using the right arm and place it on the Gray mat.",
+    "Take hold of the gray mouse and place it on the Gray mat.",
+    "Take the compact matte gray computer mouse and adjust it to rest on the Gray mat.",
+    "Lift the mouse with two buttons and a scroll wheel and position it on the Gray mat.",
+    "With the right arm, take the mouse with curved ergonomic shape and set it on Gray mat.",
+    "Use the right arm to pick the plastic mouse with smooth finish up and set it on the Gray colored mat.",
+    "Grip the small mouse with smooth surface using the right arm and move it to the Gray mat.",
+    "Use the right arm to grab the oval-shaped mouse for computer use and set it on the Gray mat.",
+    "Pick the oval-shaped mouse for computer use with the right arm and move it to the Gray mat.",
+    "Lift the plastic mouse with smooth finish and place it onto Gray mat.",
+    "Hold the compact matte gray computer mouse and transfer it to the Gray mat.",
+    "Using the right arm, grab the rounded top mouse with glossy logo and place it on Gray colored mat.",
+    "With the right arm, grab the dark ergonomic mouse for computer navigation and position it on the Gray mat.",
+    "Pick up the dark mouse with slight textured sides with the right arm and place it on the Gray mat.",
+    "Use the right arm to grab the compact matte gray computer mouse and position it onto the Gray mat.",
+    "Lift the dark ergonomic mouse for computer navigation using the right arm and drop it on the Gray colored mat.",
+    "Lift the dark ergonomic mouse for computer navigation and put it down onto the Gray mat.",
+    "Use the right arm to grab the compact matte gray computer mouse and place it on the Gray colored mat.",
+    "Grab the plastic mouse with smooth finish and position it onto the Gray mat.",
+    "Grab the small mouse with smooth surface and place it firmly on the Gray mat.",
+    "Slide the computer mouse onto the Gray mat gently.",
+    "Lift the oval-shaped mouse for computer use with the right arm and place it on the Gray mat.",
+    "With the right arm, pick up the dark mouse with slight textured sides and lay it on Gray mat.",
+    "Using the right arm, pick the oval-shaped mouse for computer use and position it on Gray colored mat.",
+    "Use the right arm to lift the dark mouse with slight textured sides and set it on the Gray mat.",
+    "Lift the mouse with two buttons and a scroll wheel and set it down on the Gray mat.",
+    "Grip the mouse with two buttons and a scroll wheel and move it onto the Gray mat.",
+    "Pick up the mouse with curved ergonomic shape with the right arm and move it to the Gray mat.",
+    "Grab the compact matte gray computer mouse and drop it on Gray mat.",
+    "Lift the dark mouse with slight textured sides using the right arm and move it to the Gray mat.",
+    "Pick up the mouse with scroll wheel in center and set it on the Gray colored mat.",
+    "Take hold of the mouse with two buttons and a scroll wheel with the right arm and drop it on the Gray mat.",
+    "Use the right arm to grab the dark ergonomic mouse for computer navigation and drop it on the Gray colored mat.",
+    "Use the right arm to pick the rounded top mouse with glossy logo and place it on the Gray mat.",
+    "Grab the gray mouse and move it onto the Gray mat.",
+    "With the right arm, grab the dark mouse with slight textured sides and position it on Gray mat.",
+    "Lift the small mouse with smooth surface up with the right arm and stick it onto the Gray mat.",
+    "Pick the mouse with two buttons and a scroll wheel and place it on the Gray colored mat.",
+    "Take the plastic mouse with smooth finish and put it on the Gray mat.",
+    "Take the plastic mouse with smooth finish and put it onto Gray mat.",
+    "Position the gray mouse on the Gray mat by picking it up.",
+    "Take the dark ergonomic mouse for computer navigation and place it on the Gray mat.",
+    "Using the right arm, grab the oval-shaped mouse for computer use and set it on the Gray mat.",
+    "Lift the dark ergonomic mouse for computer navigation using the right arm and stick it on the Gray mat.",
+    "Grab the computer mouse with the right arm and lay it onto the Gray colored mat.",
+    "Hold the gray mouse and carefully place it on the Gray mat.",
+    "Take the mouse with scroll wheel in center and place it on the Gray colored mat.",
+    "Lift the mouse with curved ergonomic shape and stick it on Gray mat.",
+    "Pick up the dark mouse with slight textured sides and move it to Gray mat.",
+    "Take the dark ergonomic mouse for computer navigation and place it onto the Gray mat."
+  ]
+}
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+  "task": "stack_blocks_two",
+  "episode": "episode_0000032",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_blocks_two/aloha_agilex/data/episode_0000032.hdf5",
+  "num_frames": 330,
+  "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": [
+      330,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      330,
+      14
+    ],
+    "action_shape": [
+      330,
+      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 red block in the center, then move green block there and stack green block on red block.",
+    "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.",
+    "Place red block and green block centrally, then stack green block on red block.",
+    "Move red block with the right arm, then stack green block on it using the left arm.",
+    "Relocate red block to the middle and place green block on it.",
+    "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.",
+    "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.",
+    "Place red block and green block in the center, then stack green block above red block.",
+    "the right arm moves red block to the center, the left arm stacks green block onto red block.",
+    "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.",
+    "Move red block to the center using the right arm, then stack green block on red block using the left arm.",
+    "Relocate red block and green block to the center, then layer green block over red block.",
+    "Center red block using the right arm, then stack green block with the left arm on top.",
+    "Place red block and green block together at the center, then stack green block on top.",
+    "Shift red block to the center and place green block on top.",
+    "Shift red block and green block to the center, then position green block on red block.",
+    "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.",
+    "Put red block in the center, then add green block above it.",
+    "Position red block at the center and stack green block above it.",
+    "Pick up red block and green block, set them at the center, then position green block above red block.",
+    "Move red block and green block to the center, then stack green block above red block.",
+    "Set red block at the center, then stack green block over red block after placing it alongside.",
+    "the right arm takes red block, sets it in the center, the left arm places green block on red block.",
+    "Use the right arm to move red block, then the left arm to stack green block on red block at the center.",
+    "Center red block and green block on the table and stack green block on top of red block.",
+    "Shift red block and green block to the center and stack green block on red block.",
+    "Bring red block to the center, then stack green block over it.",
+    "Use the right arm to move red block and the left arm to position green block.",
+    "Set red block and green block at the center, stacking green block atop red block.",
+    "Use the right arm to place red block in the center; stack green block on it with the left arm.",
+    "Use the right arm to center red block, then stack green block with the left arm.",
+    "Place red block and green block at the center and then put green block on red block.",
+    "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.",
+    "Move red block to the middle and put green block on top of it.",
+    "Move red block and green block to the center; stack green block on top of red block.",
+    "Shift red block and green block to the middle, then stack green block over red block.",
+    "Set red block in the center, then position green block on top of it.",
+    "Position red block and green block at the center, then stack green block on red block.",
+    "Use the right arm to move red block and the left arm to stack green block.",
+    "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.",
+    "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.",
+    "Set red block and green block at the table's center, then stack green block on red block.",
+    "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.",
+    "Grab red block, set it in the center, then stack green block over it.",
+    "Place red block in the center, then move green block there and stack green block on red block.",
+    "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.",
+    "Place red block and green block centrally, then stack green block on red block.",
+    "Move red block with the right arm, then stack green block on it using the left arm.",
+    "Relocate red block to the middle and place green block on it.",
+    "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.",
+    "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.",
+    "Place red block and green block in the center, then stack green block above red block.",
+    "the right arm moves red block to the center, the left arm stacks green block onto red block.",
+    "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.",
+    "Move red block to the center using the right arm, then stack green block on red block using the left arm.",
+    "Relocate red block and green block to the center, then layer green block over red block.",
+    "Center red block using the right arm, then stack green block with the left arm on top.",
+    "Place red block and green block together at the center, then stack green block on top.",
+    "Shift red block to the center and place green block on top.",
+    "Shift red block and green block to the center, then position green block on red block.",
+    "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.",
+    "Put red block in the center, then add green block above it.",
+    "Position red block at the center and stack green block above it.",
+    "Pick up red block and green block, set them at the center, then position green block above red block.",
+    "Move red block and green block to the center, then stack green block above red block.",
+    "Set red block at the center, then stack green block over red block after placing it alongside.",
+    "the right arm takes red block, sets it in the center, the left arm places green block on red block.",
+    "Use the right arm to move red block, then the left arm to stack green block on red block at the center.",
+    "Center red block and green block on the table and stack green block on top of red block.",
+    "Shift red block and green block to the center and stack green block on red block.",
+    "Bring red block to the center, then stack green block over it.",
+    "Use the right arm to move red block and the left arm to position green block.",
+    "Set red block and green block at the center, stacking green block atop red block.",
+    "Use the right arm to place red block in the center; stack green block on it with the left arm.",
+    "Use the right arm to center red block, then stack green block with the left arm.",
+    "Place red block and green block at the center and then put green block on red block.",
+    "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.",
+    "Move red block to the middle and put green block on top of it.",
+    "Move red block and green block to the center; stack green block on top of red block.",
+    "Shift red block and green block to the middle, then stack green block over red block.",
+    "Set red block in the center, then position green block on top of it.",
+    "Position red block and green block at the center, then stack green block on red block.",
+    "Use the right arm to move red block and the left arm to stack green block.",
+    "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.",
+    "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.",
+    "Set red block and green block at the table's center, then stack green block on red block.",
+    "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.",
+    "Grab red block, set it in the center, then stack green block over it.",
+    "Place red block in the center, then move green block there and stack green block on red block.",
+    "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.",
+    "Place red block and green block centrally, then stack green block on red block.",
+    "Move red block with the right arm, then stack green block on it using the left arm.",
+    "Relocate red block to the middle and place green block on it.",
+    "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.",
+    "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.",
+    "Place red block and green block in the center, then stack green block above red block.",
+    "the right arm moves red block to the center, the left arm stacks green block onto red block.",
+    "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.",
+    "Move red block to the center using the right arm, then stack green block on red block using the left arm.",
+    "Relocate red block and green block to the center, then layer green block over red block."
+  ]
+}
diff --git a/stack_bowls_three/episode_0000036/TCP_third/metadata.json b/stack_bowls_three/episode_0000036/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc1caf2c993b615fd7b28205712fda0276de9668
--- /dev/null
+++ b/stack_bowls_three/episode_0000036/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    491,
+    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"
+}