diff --git a/adjust_bottle/episode_0000007/TCP_head/metadata.json b/adjust_bottle/episode_0000007/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..18e238ea8c858a4221468887187b51c9ac971d22
--- /dev/null
+++ b/adjust_bottle/episode_0000007/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    167,
+    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/adjust_bottle/episode_0000007/metadata.json b/adjust_bottle/episode_0000007/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1a4414483750433c8ea24daa823f7d1102a68b2
--- /dev/null
+++ b/adjust_bottle/episode_0000007/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "adjust_bottle",
+  "episode": "episode_0000007",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/adjust_bottle/aloha_agilex/data/episode_0000007.hdf5",
+  "num_frames": 167,
+  "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": [
+      167,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      167,
+      14
+    ],
+    "action_shape": [
+      167,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Pick the green bottle with indented base head-up using the right arm",
+    "Grab the medium-sized green bottle and lift it into a head-up position",
+    "Lift the green bottle with indented base head-up from the table",
+    "Grab the handheld green bottle and lift it upright",
+    "Lift the plastic bottle upright carefully using the right arm",
+    "Pick the medium green bottle with capped neck up with the right arm ensuring it stays head-up.",
+    "Lift the medium-sized green bottle up from the table",
+    "Utilize the right arm to lift the smooth green plastic bottle while keeping it head-up.",
+    "Grab the bottle with rounded neck with the right arm in a head-up way",
+    "Pick up the bottle with rounded neck from the table using the right arm.",
+    "Lift the handheld green bottle head-up from the table",
+    "Lift the bottle with ridges near base ensuring it remains upright.",
+    "Pick the bottle with narrow top upright from the table",
+    "Raise the medium green bottle from the table using the correct arm, the right arm.",
+    "Grab the medium-sized green bottle and lift it upward from the table.",
+    "Use the right arm to grab and lift the medium green bottle head-up.",
+    "Pick the smooth green bottle head-up and hold it steady.",
+    "Secure the bottle with narrow top upright with the right arm",
+    "Pick the bottle with rounded neck and keep it upright",
+    "Identify the plastic bottle and grab it with the right arm",
+    "Position the plastic bottle head-up and lift it",
+    "Lift the medium green bottle from the table upright",
+    "Find the smooth green plastic bottle on the table and raise it using the right arm.",
+    "Use the right arm to pick up the bottle with rounded neck from the table.",
+    "Lift the bottle with ridges near base from the table and secure upright",
+    "Pick the plastic bottle upright from the table",
+    "Use the right arm to lift the handheld green bottle head-up",
+    "Use the right arm to pick up the plastic bottle in the correct orientation",
+    "Lift the smooth green plastic bottle head-up from the table.",
+    "Lift the handheld green bottle using the right arm and hold upright",
+    "Pick up the bottle with narrow top from the table carefully.",
+    "Hold the bottle with ridges near base head-up after lifting it.",
+    "Use the correct arm to pick up the medium green bottle with capped neck.",
+    "Use the right arm to pick the medium green bottle with capped neck up and keep it head-up.",
+    "Use the right arm to hold the bottle with white printed label from the table",
+    "Grab the handheld green bottle and lift it with the right arm",
+    "Using the right arm, pick the bottle with white printed label upright",
+    "Grab the medium green bottle head-up using the right arm from the table.",
+    "Lift the green bottle with indented base from the table.",
+    "Lift the bottle with ridges near base off the table and hold it upright.",
+    "Hold the smooth green plastic bottle upright after lifting with the right arm",
+    "Grab the plastic bottle from the table with the right arm",
+    "Take the medium green bottle with capped neck from the table and keep upright",
+    "Hold the bottle with rounded neck upright from the table",
+    "Pick up the plastic bottle upright from the table",
+    "Lift the smooth green bottle from the table with the right arm",
+    "Raise the medium green bottle in a head-up position",
+    "Locate the medium green bottle with capped neck and lift it upright with the right arm.",
+    "Grab the medium green bottle with capped neck from the table and hold it head-up.",
+    "Carefully grab the medium green bottle head-up",
+    "Pick the bottle with rounded neck head-up using the right arm",
+    "Grab the bottle with white printed label and lift it into a head-up position",
+    "Lift the green bottle with indented base head-up from the table",
+    "Grab the bottle with white printed label and lift it upright",
+    "Lift the bottle with ridges near base upright carefully using the right arm",
+    "Pick the green bottle with indented base up with the right arm ensuring it stays head-up.",
+    "Lift the green bottle with indented base up from the table",
+    "Utilize the right arm to lift the medium green bottle with capped neck while keeping it head-up.",
+    "Grab the green bottle with indented base with the right arm in a head-up way",
+    "Pick up the medium green bottle from the table using the right arm.",
+    "Lift the bottle with white printed label head-up from the table",
+    "Lift the handheld green bottle ensuring it remains upright.",
+    "Pick the medium green bottle with capped neck upright from the table",
+    "Raise the bottle with narrow top from the table using the correct arm, the right arm.",
+    "Grab the bottle with rounded neck and lift it upward from the table.",
+    "Use the right arm to grab and lift the bottle with ridges near base head-up.",
+    "Pick the green bottle with indented base head-up and hold it steady.",
+    "Secure the bottle with ridges near base upright with the right arm",
+    "Pick the smooth green plastic bottle and keep it upright",
+    "Identify the bottle with ridges near base and grab it with the right arm",
+    "Position the plastic bottle head-up and lift it",
+    "Lift the bottle with rounded neck from the table upright",
+    "Find the medium green bottle on the table and raise it using the right arm.",
+    "Use the right arm to pick up the smooth green bottle from the table.",
+    "Lift the bottle with rounded neck from the table and secure upright",
+    "Pick the medium-sized green bottle upright from the table",
+    "Use the right arm to lift the medium green bottle with capped neck head-up",
+    "Use the right arm to pick up the medium green bottle in the correct orientation",
+    "Lift the plastic bottle head-up from the table.",
+    "Lift the medium-sized green bottle using the right arm and hold upright",
+    "Pick up the handheld green bottle from the table carefully.",
+    "Hold the medium green bottle with capped neck head-up after lifting it.",
+    "Use the correct arm to pick up the medium-sized green bottle.",
+    "Use the right arm to pick the handheld green bottle up and keep it head-up.",
+    "Use the right arm to hold the bottle with ridges near base from the table",
+    "Grab the smooth green plastic bottle and lift it with the right arm",
+    "Using the right arm, pick the green bottle with indented base upright",
+    "Grab the bottle with ridges near base head-up using the right arm from the table.",
+    "Lift the medium green bottle from the table.",
+    "Lift the plastic bottle off the table and hold it upright.",
+    "Hold the bottle with white printed label upright after lifting with the right arm",
+    "Grab the plastic bottle from the table with the right arm",
+    "Take the green bottle with indented base from the table and keep upright",
+    "Hold the bottle with ridges near base upright from the table",
+    "Pick up the bottle with narrow top upright from the table",
+    "Lift the smooth green plastic bottle from the table with the right arm",
+    "Raise the smooth green plastic bottle in a head-up position",
+    "Locate the bottle with ridges near base and lift it upright with the right arm.",
+    "Grab the green bottle with indented base from the table and hold it head-up.",
+    "Carefully grab the medium green bottle with capped neck head-up"
+  ]
+}
diff --git a/adjust_bottle/episode_0000038/TCP_head/metadata.json b/adjust_bottle/episode_0000038/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..34fa024f593c8f363058947ff32fd83586618128
--- /dev/null
+++ b/adjust_bottle/episode_0000038/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    141,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/adjust_bottle/episode_0000038/TCP_third/metadata.json b/adjust_bottle/episode_0000038/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..852c9240ea0986209e0216541ea8e224b207aa5b
--- /dev/null
+++ b/adjust_bottle/episode_0000038/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    141,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "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/adjust_bottle/episode_0000038/metadata.json b/adjust_bottle/episode_0000038/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..97a986d745a981a91ad4f9d7f3cf3dbc8abd558e
--- /dev/null
+++ b/adjust_bottle/episode_0000038/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "adjust_bottle",
+  "episode": "episode_0000038",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/adjust_bottle/aloha_agilex/data/episode_0000038.hdf5",
+  "num_frames": 141,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      141,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      141,
+      14
+    ],
+    "action_shape": [
+      141,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Pick the narrow-necked bottle and keep it upright",
+    "Use the left arm to pick up the long thin bottle in the correct orientation",
+    "Use the left arm to hold the dark drink bottle with logo from the table",
+    "Pick up the plastic drink bottle from the table using the left arm.",
+    "Find the brown bottle with red label on the table and raise it using the left arm.",
+    "Lift the bottle with ridges on bottom ensuring it remains upright.",
+    "Lift the bottle with ridges on bottom using the left arm and hold upright",
+    "Hold the brown bottle with red label upright from the table",
+    "Grab the bottle with white neck and red top and lift it upward from the table.",
+    "Lift the plastic drink bottle upright carefully using the left arm",
+    "Hold the red-capped bottle head-up after lifting it.",
+    "Lift the dark drink bottle with logo from the table upright",
+    "Take the narrow-necked bottle from the table and keep upright",
+    "Identify the red-capped bottle and grab it with the left arm",
+    "Grab the bottle with ridges on bottom from the table with the left arm",
+    "Use the left arm to pick up the Coca-Cola bottle from the table.",
+    "Use the left arm to grab and lift the Coca-Cola bottle head-up.",
+    "Lift the Coca-Cola bottle head-up from the table",
+    "Pick the plastic drink bottle upright from the table",
+    "Grab the medium dark brown bottle and lift it into a head-up position",
+    "Grab the long thin bottle and lift it with the left arm",
+    "Pick the plastic drink bottle upright from the table",
+    "Pick the bottle with white neck and red top head-up and hold it steady.",
+    "Lift the hand-sized soda bottle head-up from the table.",
+    "Raise the medium dark brown bottle in a head-up position",
+    "Pick the smooth bottle with red lid up with the left arm ensuring it stays head-up.",
+    "Grab the hand-sized soda bottle and lift it upright",
+    "Using the left arm, pick the red-capped bottle upright",
+    "Pick the red-capped bottle head-up using the left arm",
+    "Grab the dark drink bottle with logo from the table and hold it head-up.",
+    "Lift the hand-sized soda bottle from the table and secure upright",
+    "Pick up the bottle with ridges on bottom upright from the table",
+    "Use the correct arm to pick up the dark drink bottle with logo.",
+    "Lift the smooth bottle with red lid from the table with the left arm",
+    "Lift the hand-sized soda bottle head-up from the table",
+    "Hold the plastic drink bottle upright after lifting with the left arm",
+    "Position the brown bottle with red label head-up and lift it",
+    "Carefully grab the bottle with white neck and red top head-up",
+    "Lift the brown bottle with red label up from the table",
+    "Lift the long thin bottle from the table.",
+    "Use the left arm to lift the medium dark brown bottle head-up",
+    "Pick up the narrow-necked bottle from the table carefully.",
+    "Grab the hand-sized soda bottle with the left arm in a head-up way",
+    "Secure the dark drink bottle with logo upright with the left arm",
+    "Raise the medium dark brown bottle from the table using the correct arm, the left arm.",
+    "Use the left arm to pick the narrow-necked bottle up and keep it head-up.",
+    "Lift the smooth bottle with red lid off the table and hold it upright.",
+    "Utilize the left arm to lift the brown bottle with red label while keeping it head-up.",
+    "Grab the brown bottle with red label head-up using the left arm from the table.",
+    "Locate the narrow-necked bottle and lift it upright with the left arm.",
+    "Pick the narrow-necked bottle and keep it upright",
+    "Use the left arm to pick up the long thin bottle in the correct orientation",
+    "Use the left arm to hold the long thin bottle from the table",
+    "Pick up the bottle with ridges on bottom from the table using the left arm.",
+    "Find the medium dark brown bottle on the table and raise it using the left arm.",
+    "Lift the bottle with ridges on bottom ensuring it remains upright.",
+    "Lift the red-capped bottle using the left arm and hold upright",
+    "Hold the smooth bottle with red lid upright from the table",
+    "Grab the medium dark brown bottle and lift it upward from the table.",
+    "Lift the brown bottle with red label upright carefully using the left arm",
+    "Hold the narrow-necked bottle head-up after lifting it.",
+    "Lift the bottle with white neck and red top from the table upright",
+    "Take the bottle with ridges on bottom from the table and keep upright",
+    "Identify the dark drink bottle with logo and grab it with the left arm",
+    "Grab the Coca-Cola bottle from the table with the left arm",
+    "Use the left arm to pick up the hand-sized soda bottle from the table.",
+    "Use the left arm to grab and lift the dark drink bottle with logo head-up.",
+    "Lift the long thin bottle head-up from the table",
+    "Pick the hand-sized soda bottle upright from the table",
+    "Grab the long thin bottle and lift it into a head-up position",
+    "Grab the hand-sized soda bottle and lift it with the left arm",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Pick the Coca-Cola bottle head-up and hold it steady.",
+    "Lift the long thin bottle head-up from the table.",
+    "Raise the Coca-Cola bottle in a head-up position",
+    "Pick the long thin bottle up with the left arm ensuring it stays head-up.",
+    "Grab the bottle with white neck and red top and lift it upright",
+    "Using the left arm, pick the plastic drink bottle upright",
+    "Pick the bottle with ridges on bottom head-up using the left arm",
+    "Grab the medium dark brown bottle from the table and hold it head-up.",
+    "Lift the medium dark brown bottle from the table and secure upright",
+    "Pick up the smooth bottle with red lid upright from the table",
+    "Use the correct arm to pick up the long thin bottle.",
+    "Lift the long thin bottle from the table with the left arm",
+    "Lift the medium dark brown bottle head-up from the table",
+    "Hold the bottle with ridges on bottom upright after lifting with the left arm",
+    "Position the red-capped bottle head-up and lift it",
+    "Carefully grab the narrow-necked bottle head-up",
+    "Lift the narrow-necked bottle up from the table",
+    "Lift the long thin bottle from the table.",
+    "Use the left arm to lift the bottle with white neck and red top head-up",
+    "Pick up the brown bottle with red label from the table carefully.",
+    "Grab the long thin bottle with the left arm in a head-up way",
+    "Secure the bottle with ridges on bottom upright with the left arm",
+    "Raise the dark drink bottle with logo from the table using the correct arm, the left arm.",
+    "Use the left arm to pick the plastic drink bottle up and keep it head-up.",
+    "Lift the hand-sized soda bottle off the table and hold it upright.",
+    "Utilize the left arm to lift the Coca-Cola bottle while keeping it head-up.",
+    "Grab the dark drink bottle with logo head-up using the left arm from the table.",
+    "Locate the bottle with ridges on bottom and lift it upright with the left arm."
+  ]
+}
diff --git a/dump_bin_bigbin/episode_0000012/TCP_head/metadata.json b/dump_bin_bigbin/episode_0000012/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb2b7dbbdc6f54fc14f3aa4e52469e49017283d2
--- /dev/null
+++ b/dump_bin_bigbin/episode_0000012/TCP_head/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": "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/dump_bin_bigbin/episode_0000012/metadata.json b/dump_bin_bigbin/episode_0000012/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b4b1b7ed2a5ae6e2c697f6e6ad768fc73a4be48
--- /dev/null
+++ b/dump_bin_bigbin/episode_0000012/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "dump_bin_bigbin",
+  "episode": "episode_0000012",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/dump_bin_bigbin/aloha_agilex/data/episode_0000012.hdf5",
+  "num_frames": 359,
+  "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": [
+      359,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      359,
+      14
+    ],
+    "action_shape": [
+      359,
+      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 open gray tabletrashbin and pour it out.",
+    "Hold the plastic tabletrashbin and dump its balls.",
+    "Pick up the small tabletop trashbin and pour carefully.",
+    "Move the arm, take the open-top tabletrashbin, and pour.",
+    "Use the arm to lift the plastic tabletrashbin and empty it.",
+    "Lift the small tabletop trashbin, pour into the big bin.",
+    "Lift the plastic tabletrashbin and pour its contents into bin.",
+    "Lift the small tabletop trashbin, pour the balls into big bin",
+    "Use the light gray waste container to pour the balls out.",
+    "Pick up the light gray tabletrashbin, empty into the big bin",
+    "Hold the light gray waste container and pour the balls.",
+    "Use arm to grab the cylindrical tabletrashbin, dump contents",
+    "Grab the light gray tabletrashbin, then pour balls into the bin.",
+    "Take hold of the simple tabletop trashbin, pour contents.",
+    "Grab and tilt the light gray tabletrashbin to empty the balls.",
+    "Pick up the small tabletop trashbin using the arm, pour balls.",
+    "Take the light gray waste container and pour contents.",
+    "Grasp the simple tabletop trashbin and empty it out.",
+    "Grab the open-top tabletrashbin and transfer balls.",
+    "Lift the light gray tabletrashbin and pour balls into the bin.",
+    "Hold the open-top tabletrashbin, dump balls in big bin",
+    "Grab the simple tabletop trashbin, pour its contents away.",
+    "Take the round gray tabletrashbin and empty its contents.",
+    "Direct the arm to grab the light gray tabletrashbin and tilt.",
+    "Take the light gray cylindrical trashbin using arm, pour contents inside",
+    "Lift the small tabletop trashbin and pour contents down.",
+    "Grab the cylindrical tabletrashbin and empty it into the bin.",
+    "Grab the light gray tabletrashbin with arm and pour contents",
+    "Take the open-top tabletrashbin and empty balls into the bin.",
+    "Hold the open-top tabletrashbin, then pour contents.",
+    "Raise the light gray waste container to dump its contents out.",
+    "Pick the small tabletop trashbin, pour its contents out.",
+    "Lift up the small tabletop trashbin, then pour balls.",
+    "Hold the light gray waste container and pour all balls into bin",
+    "Take the open gray tabletrashbin and pour the balls.",
+    "Lift the round gray tabletrashbin using the arm to pour balls.",
+    "Grab the open gray tabletrashbin and transfer balls to the bin.",
+    "Control the arm to raise the cylindrical tabletrashbin and pour.",
+    "Use arm to pick the small tabletop trashbin, pour in bin",
+    "Pick the plastic tabletrashbin up, pour all balls inside bin",
+    "Take hold of the open gray tabletrashbin and dump the balls.",
+    "Use the arm to move the light gray waste container and pour.",
+    "Take the minimalist gray tabletrashbin and pour the balls out.",
+    "Pick up the round gray tabletrashbin and pour into bin.",
+    "Pour balls from the light gray tabletrashbin into the bin.",
+    "Lift the plastic tabletrashbin, then pour the balls.",
+    "Lift the small tabletop trashbin, pour contents into big bin",
+    "Use the arm to empty the light gray waste container into the bin.",
+    "Secure the light gray cylindrical trashbin and pour the balls.",
+    "Use the arm to grab the cylindrical tabletrashbin and pour.",
+    "Grab the plastic tabletrashbin and pour it out.",
+    "Hold the light gray tabletrashbin and dump its balls.",
+    "Pick up the light gray smooth tabletrashbin and pour carefully.",
+    "Move the arm, take the small tabletop trashbin, and pour.",
+    "Use the arm to lift the light gray waste container and empty it.",
+    "Lift the open gray tabletrashbin, pour into the big bin.",
+    "Lift the open gray tabletrashbin and pour its contents into bin.",
+    "Lift the round gray tabletrashbin, pour the balls into big bin",
+    "Use the light gray waste container to pour the balls out.",
+    "Pick up the simple tabletop trashbin, empty into the big bin",
+    "Hold the open-top tabletrashbin and pour the balls.",
+    "Use arm to grab the light gray smooth tabletrashbin, dump contents",
+    "Grab the small tabletop trashbin, then pour balls into the bin.",
+    "Take hold of the light gray tabletrashbin, pour contents.",
+    "Grab and tilt the light gray cylindrical trashbin to empty the balls.",
+    "Pick up the light gray waste container using the arm, pour balls.",
+    "Take the open-top tabletrashbin and pour contents.",
+    "Grasp the open gray tabletrashbin and empty it out.",
+    "Grab the light gray smooth tabletrashbin and transfer balls.",
+    "Lift the plastic tabletrashbin and pour balls into the bin.",
+    "Hold the small tabletop trashbin, dump balls in big bin",
+    "Grab the minimalist gray tabletrashbin, pour its contents away.",
+    "Take the small tabletop trashbin and empty its contents.",
+    "Direct the arm to grab the light gray smooth tabletrashbin and tilt.",
+    "Take the minimalist gray tabletrashbin using arm, pour contents inside",
+    "Lift the small tabletop trashbin and pour contents down.",
+    "Grab the plastic tabletrashbin and empty it into the bin.",
+    "Grab the minimalist gray tabletrashbin with arm and pour contents",
+    "Take the light gray tabletrashbin and empty balls into the bin.",
+    "Hold the light gray smooth tabletrashbin, then pour contents.",
+    "Raise the open gray tabletrashbin to dump its contents out.",
+    "Pick the simple tabletop trashbin, pour its contents out.",
+    "Lift up the light gray waste container, then pour balls.",
+    "Hold the light gray smooth tabletrashbin and pour all balls into bin",
+    "Take the simple tabletop trashbin and pour the balls.",
+    "Lift the open-top tabletrashbin using the arm to pour balls.",
+    "Grab the light gray waste container and transfer balls to the bin.",
+    "Control the arm to raise the light gray tabletrashbin and pour.",
+    "Use arm to pick the open-top tabletrashbin, pour in bin",
+    "Pick the plastic tabletrashbin up, pour all balls inside bin",
+    "Take hold of the light gray smooth tabletrashbin and dump the balls.",
+    "Use the arm to move the light gray waste container and pour.",
+    "Take the light gray tabletrashbin and pour the balls out.",
+    "Pick up the round gray tabletrashbin and pour into bin.",
+    "Pour balls from the simple tabletop trashbin into the bin.",
+    "Lift the round gray tabletrashbin, then pour the balls.",
+    "Lift the minimalist gray tabletrashbin, pour contents into big bin",
+    "Use the arm to empty the cylindrical tabletrashbin into the bin.",
+    "Secure the light gray waste container and pour the balls.",
+    "Use the arm to grab the plastic tabletrashbin and pour."
+  ]
+}
diff --git a/dump_bin_bigbin/episode_0000032/TCP_third/metadata.json b/dump_bin_bigbin/episode_0000032/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aa13384d8d413977d61256d3b68b3838f453169
--- /dev/null
+++ b/dump_bin_bigbin/episode_0000032/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    357,
+    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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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    189,
+    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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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    162,
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+    "x",
+    "y",
+    "z",
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+  "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_0000034/TCP_head/metadata.json b/stamp_seal/episode_0000034/TCP_head/metadata.json
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+  "format": "robotwin_tcp_v1",
+  "shape": [
+    145,
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+    "x",
+    "y",
+    "z",
+    "roll",
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+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stamp_seal",
+  "episode": "episode_0000034",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stamp_seal/aloha_agilex/data/episode_0000034.hdf5",
+  "num_frames": 145,
+  "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": {
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+      3
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+    "per_view_constant": true
+  },
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+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
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+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
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+      {
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+        "start": 6,
+        "end": 7
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+      {
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+        "end": 13
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+      {
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+        "start": 13,
+        "end": 14
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+    ]
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+  "frequency_hz": 15,
+  "instructions": [
+    "Grab the hand-sized rectangular brown seal and press onto Yellow",
+    "Position the compact stone seal on Yellow, apply pressure",
+    "Grab the brown rectangular seal with slanted edges and press onto Yellow",
+    "Bring the rectangular seal to Yellow and stamp",
+    "Stamp Yellow after grabbing the seal with textured top",
+    "Pick the seal with textured top and press down on Yellow",
+    "Set the brown rectangular seal with slanted edges on Yellow",
+    "Pick the compact stone seal and apply it onto Yellow.",
+    "Take the seal for stamping and stamp it on Yellow.",
+    "Use the left arm to press the brown rectangular seal with slanted edges on Yellow",
+    "Grab the seal for stamping and press on Yellow.",
+    "Hold the seal with smooth engraved top and press onto Yellow",
+    "the left arm holds the smooth rectangular seal, presses Yellow",
+    "Stamp Yellow after grabbing the seal with sloped sides.",
+    "Use the brown seal to stamp Yellow",
+    "Use the left arm to pick the hand-sized rectangular brown seal for Yellow",
+    "Pick up the seal with textured top, stamp Yellow",
+    "With the left arm, take the seal for stamping and mark Yellow.",
+    "Place the smooth rectangular seal onto Yellow after grabbing.",
+    "the left arm uses the seal with sloped sides to stamp Yellow",
+    "Use the seal with sloped sides to mark Yellow",
+    "Grab the engraved top seal, align it with Yellow",
+    "Place the seal for stamping onto Yellow",
+    "Hold the smooth rectangular seal with the left arm and stamp Yellow",
+    "Pick up the seal with sloped sides and press onto Yellow",
+    "the left arm grabs the seal for stamping, stamps Yellow",
+    "Pick the seal for stamping and press on Yellow",
+    "Press the seal with smooth engraved top onto Yellow with the left arm",
+    "the left arm picks the brown rectangular seal with slanted edges, stamps Yellow",
+    "Pick the hand-sized rectangular brown seal and stamp it on Yellow",
+    "Take the rectangular stone seal with engraved top and stamp Yellow",
+    "Stamp the seal with sloped sides on Yellow",
+    "Use the left arm to lift the seal for stamping, then stamp Yellow.",
+    "Position the engraved top seal over Yellow and stamp",
+    "Grab the compact stone seal with the left arm, press it onto Yellow.",
+    "Grab the rectangular seal to press onto Yellow",
+    "Use the left arm for the rectangular seal and stamp Yellow",
+    "With the left arm, secure the brown rectangular seal with slanted edges and mark Yellow.",
+    "Use the left arm, take the seal with sloped sides, and apply to Yellow.",
+    "Lift the seal with sloped sides and press onto Yellow",
+    "Press the seal with sloped sides firmly onto Yellow",
+    "Use the left arm to grab the seal for stamping, press Yellow",
+    "Press the rectangular seal onto Yellow",
+    "Grab the seal with textured top and press onto Yellow",
+    "Position the seal for stamping on Yellow, apply pressure",
+    "Grab the brown seal and press onto Yellow",
+    "Bring the rectangular seal to Yellow and stamp",
+    "Stamp Yellow after grabbing the brown seal",
+    "Pick the rectangular stone seal with engraved top and press down on Yellow",
+    "Set the seal with sloped sides on Yellow",
+    "Pick the brown rectangular seal with slanted edges and apply it onto Yellow.",
+    "Take the seal with smooth engraved top and stamp it on Yellow.",
+    "Use the left arm to press the rectangular stone seal with engraved top on Yellow",
+    "Grab the seal with smooth engraved top and press on Yellow.",
+    "Hold the seal for stamping and press onto Yellow",
+    "the left arm holds the rectangular seal, presses Yellow",
+    "Stamp Yellow after grabbing the smooth rectangular seal.",
+    "Use the seal with textured top to stamp Yellow",
+    "Use the left arm to pick the rectangular seal for Yellow",
+    "Pick up the smooth rectangular seal, stamp Yellow",
+    "With the left arm, take the seal with smooth engraved top and mark Yellow.",
+    "Place the hand-sized rectangular brown seal onto Yellow after grabbing.",
+    "the left arm uses the compact stone seal to stamp Yellow",
+    "Use the seal with smooth engraved top to mark Yellow",
+    "Grab the seal with smooth engraved top, align it with Yellow",
+    "Place the smooth rectangular seal onto Yellow",
+    "Hold the rectangular stone seal with engraved top with the left arm and stamp Yellow",
+    "Pick up the seal with sloped sides and press onto Yellow",
+    "the left arm grabs the seal with textured top, stamps Yellow",
+    "Pick the seal with sloped sides and press on Yellow",
+    "Press the seal with sloped sides onto Yellow with the left arm",
+    "the left arm picks the compact stone seal, stamps Yellow",
+    "Pick the seal with textured top and stamp it on Yellow",
+    "Take the seal with textured top and stamp Yellow",
+    "Stamp the smooth rectangular seal on Yellow",
+    "Use the left arm to lift the rectangular stone seal with engraved top, then stamp Yellow.",
+    "Position the smooth rectangular seal over Yellow and stamp",
+    "Grab the brown seal with the left arm, press it onto Yellow.",
+    "Grab the seal with sloped sides to press onto Yellow",
+    "Use the left arm for the seal with sloped sides and stamp Yellow",
+    "With the left arm, secure the smooth rectangular seal and mark Yellow.",
+    "Use the left arm, take the seal with smooth engraved top, and apply to Yellow.",
+    "Lift the rectangular stone seal with engraved top and press onto Yellow",
+    "Press the engraved top seal firmly onto Yellow",
+    "Use the left arm to grab the smooth rectangular seal, press Yellow",
+    "Press the rectangular stone seal with engraved top onto Yellow",
+    "Grab the seal with textured top and press onto Yellow",
+    "Position the seal with smooth engraved top on Yellow, apply pressure",
+    "Grab the hand-sized rectangular brown seal and press onto Yellow",
+    "Bring the seal for stamping to Yellow and stamp",
+    "Stamp Yellow after grabbing the engraved top seal",
+    "Pick the seal with smooth engraved top and press down on Yellow",
+    "Set the smooth rectangular seal on Yellow",
+    "Pick the brown seal and apply it onto Yellow.",
+    "Take the rectangular seal and stamp it on Yellow.",
+    "Use the left arm to press the brown seal on Yellow",
+    "Grab the brown seal and press on Yellow.",
+    "Hold the seal with smooth engraved top and press onto Yellow",
+    "the left arm holds the seal with smooth engraved top, presses Yellow",
+    "Stamp Yellow after grabbing the smooth rectangular seal."
+  ]
+}