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diff --git a/stack_blocks_three/episode_0000002/TCP_third/metadata.json b/stack_blocks_three/episode_0000002/TCP_third/metadata.json
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--- /dev/null
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    509,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/stack_blocks_three/episode_0000016/TCP_head/metadata.json b/stack_blocks_three/episode_0000016/TCP_head/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    502,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/stack_blocks_three/episode_0000016/metadata.json b/stack_blocks_three/episode_0000016/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stack_blocks_three",
+  "episode": "episode_0000016",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_blocks_three/aloha_agilex/data/episode_0000016.hdf5",
+  "num_frames": 502,
+  "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": [
+      502,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      502,
+      14
+    ],
+    "action_shape": [
+      502,
+      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": [
+    "Set red block at the center and stack green block and blue block above it.",
+    "Move red block to the center, add green block, then add blue block.",
+    "Build a centered stack with red block below green block and green block below blue block.",
+    "Arrange blue block above green block and green block above red block at the center.",
+    "Stack red block, green block, and blue block centrally with blue block on top.",
+    "Place red block as the base, green block above it, and blue block at the top.",
+    "Stack green block on red block, then stack blue block on green block at the center.",
+    "Set red block down first, place green block on it, and finish with blue block.",
+    "Place red block at the center, then green block on red block, then blue block on green block.",
+    "At the center, place green block on red block, followed by blue block on green block.",
+    "Arrange red block, green block, and blue block as a bottom-to-top stack at the center.",
+    "Place red block beneath green block and green block beneath blue block in one centered tower.",
+    "Create a stack with red block at the bottom, green block in the middle, and blue block on top.",
+    "Use the left arm for red block, the right arm for green block, and the left arm for blue block, stacking bottom-up.",
+    "Position red block centrally and build upward with green block and then blue block.",
+    "With the left arm, place red block; with the right arm, add green block; with the left arm, add blue block.",
+    "Complete a centered stack with red block supporting green block, and green block supporting blue block.",
+    "Use the left arm, the right arm, and the left arm to stack red block, green block, and blue block from bottom to top.",
+    "Move red block, green block, and blue block using the left arm, the right arm, and the left arm to form a centered stack.",
+    "Center red block, then put green block on red block and blue block on green block.",
+    "Build upward from red block to green block to blue block at the table's center.",
+    "Build the centered tower by adding green block to red block, then blue block to green block.",
+    "Put red block at the base and stack green block and blue block above it in order.",
+    "Place red block with the left arm, then green block with the right arm, then blue block with the left arm.",
+    "Move red block, green block, and blue block into a tower with red block as its base.",
+    "Make red block the base, set green block on it, and set blue block on green block.",
+    "Stack the blocks bottom-up: red block, then green block, then blue block.",
+    "Relocate the blocks into a centered stack ordered red block, green block, blue block from bottom upward.",
+    "Form a three-block tower: red block bottom, green block middle, blue block top.",
+    "Using the left arm, the right arm, and the left arm, build a stack with red block below green block below blue block.",
+    "Set red block at the center and stack green block and blue block above it.",
+    "Move red block to the center, add green block, then add blue block.",
+    "Build a centered stack with red block below green block and green block below blue block.",
+    "Arrange blue block above green block and green block above red block at the center.",
+    "Stack red block, green block, and blue block centrally with blue block on top.",
+    "Place red block as the base, green block above it, and blue block at the top.",
+    "Stack green block on red block, then stack blue block on green block at the center.",
+    "Set red block down first, place green block on it, and finish with blue block.",
+    "Place red block at the center, then green block on red block, then blue block on green block.",
+    "At the center, place green block on red block, followed by blue block on green block.",
+    "Arrange red block, green block, and blue block as a bottom-to-top stack at the center.",
+    "Place red block beneath green block and green block beneath blue block in one centered tower.",
+    "Create a stack with red block at the bottom, green block in the middle, and blue block on top.",
+    "Use the left arm for red block, the right arm for green block, and the left arm for blue block, stacking bottom-up.",
+    "Position red block centrally and build upward with green block and then blue block.",
+    "With the left arm, place red block; with the right arm, add green block; with the left arm, add blue block.",
+    "Complete a centered stack with red block supporting green block, and green block supporting blue block.",
+    "Use the left arm, the right arm, and the left arm to stack red block, green block, and blue block from bottom to top.",
+    "Move red block, green block, and blue block using the left arm, the right arm, and the left arm to form a centered stack.",
+    "Center red block, then put green block on red block and blue block on green block.",
+    "Build upward from red block to green block to blue block at the table's center.",
+    "Build the centered tower by adding green block to red block, then blue block to green block.",
+    "Put red block at the base and stack green block and blue block above it in order.",
+    "Place red block with the left arm, then green block with the right arm, then blue block with the left arm.",
+    "Move red block, green block, and blue block into a tower with red block as its base.",
+    "Make red block the base, set green block on it, and set blue block on green block.",
+    "Stack the blocks bottom-up: red block, then green block, then blue block.",
+    "Relocate the blocks into a centered stack ordered red block, green block, blue block from bottom upward.",
+    "Form a three-block tower: red block bottom, green block middle, blue block top.",
+    "Using the left arm, the right arm, and the left arm, build a stack with red block below green block below blue block.",
+    "Set red block at the center and stack green block and blue block above it.",
+    "Move red block to the center, add green block, then add blue block.",
+    "Build a centered stack with red block below green block and green block below blue block.",
+    "Arrange blue block above green block and green block above red block at the center.",
+    "Stack red block, green block, and blue block centrally with blue block on top.",
+    "Place red block as the base, green block above it, and blue block at the top.",
+    "Stack green block on red block, then stack blue block on green block at the center.",
+    "Set red block down first, place green block on it, and finish with blue block.",
+    "Place red block at the center, then green block on red block, then blue block on green block.",
+    "At the center, place green block on red block, followed by blue block on green block.",
+    "Arrange red block, green block, and blue block as a bottom-to-top stack at the center.",
+    "Place red block beneath green block and green block beneath blue block in one centered tower.",
+    "Create a stack with red block at the bottom, green block in the middle, and blue block on top.",
+    "Use the left arm for red block, the right arm for green block, and the left arm for blue block, stacking bottom-up.",
+    "Position red block centrally and build upward with green block and then blue block.",
+    "With the left arm, place red block; with the right arm, add green block; with the left arm, add blue block.",
+    "Complete a centered stack with red block supporting green block, and green block supporting blue block.",
+    "Use the left arm, the right arm, and the left arm to stack red block, green block, and blue block from bottom to top.",
+    "Move red block, green block, and blue block using the left arm, the right arm, and the left arm to form a centered stack.",
+    "Center red block, then put green block on red block and blue block on green block.",
+    "Build upward from red block to green block to blue block at the table's center.",
+    "Build the centered tower by adding green block to red block, then blue block to green block.",
+    "Put red block at the base and stack green block and blue block above it in order.",
+    "Place red block with the left arm, then green block with the right arm, then blue block with the left arm.",
+    "Move red block, green block, and blue block into a tower with red block as its base.",
+    "Make red block the base, set green block on it, and set blue block on green block.",
+    "Stack the blocks bottom-up: red block, then green block, then blue block.",
+    "Relocate the blocks into a centered stack ordered red block, green block, blue block from bottom upward.",
+    "Form a three-block tower: red block bottom, green block middle, blue block top.",
+    "Using the left arm, the right arm, and the left arm, build a stack with red block below green block below blue block.",
+    "Set red block at the center and stack green block and blue block above it.",
+    "Move red block to the center, add green block, then add blue block.",
+    "Build a centered stack with red block below green block and green block below blue block.",
+    "Arrange blue block above green block and green block above red block at the center.",
+    "Stack red block, green block, and blue block centrally with blue block on top.",
+    "Place red block as the base, green block above it, and blue block at the top.",
+    "Stack green block on red block, then stack blue block on green block at the center.",
+    "Set red block down first, place green block on it, and finish with blue block.",
+    "Place red block at the center, then green block on red block, then blue block on green block.",
+    "At the center, place green block on red block, followed by blue block on green block."
+  ]
+}