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+  "format": "robotwin_tcp_v1",
+  "shape": [
+    304,
+    7
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+  "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": {
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+    "closed": 0,
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+  "source": "robot_state.npy"
+}
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+  "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": "shake_bottle_horizontally",
+  "episode": "episode_0000041",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/shake_bottle_horizontally/aloha_agilex/data/episode_0000041.hdf5",
+  "num_frames": 298,
+  "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
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+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
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+    "transform": "world_to_camera",
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+    "columns": [
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+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
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+        "start": 6,
+        "end": 7
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+      {
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+      {
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+        "start": 13,
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+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Secure the medium-sized bottle with the left arm, shake in horizontal motion.",
+    "Use the left arm to hold the white bottle for liquids firmly and shake horizontally.",
+    "Pick up the plastic bottle using the left arm, shake it horizontally.",
+    "Pick up the plastic bottle and shake it from side to side.",
+    "Hold the white bottle for liquids with the left arm and shake horizontally.",
+    "Grip the white bottle, then shake it back and forth.",
+    "Using the left arm, grab the handheld white bottle with cap and shake it sideways.",
+    "Lift the bottle with orange screw cap using the left arm and shake horizontally.",
+    "Hold the bottle with tapering neck and move it side to side.",
+    "Shake the white bottle with orange lid side-to-side after grabbing it.",
+    "Take hold of the cylindrical bottle with red writing using the left arm and move horizontally.",
+    "Pick up the white bottle with orange lid and shake it side to side.",
+    "Shake the medium-sized bottle horizontally.",
+    "Hold the medium-sized bottle and shake it side to side.",
+    "Grab the medium-sized bottle and shake in a horizontal motion.",
+    "Move the white bottle for liquids side-to-side after grabbing it.",
+    "Grab and shake the cylindrical bottle with red writing horizontally.",
+    "Pick the handheld white bottle with cap up and shake it horizontally.",
+    "Use the left arm to pick the bottle with tapering neck and shake it horizontally.",
+    "Lift the medium-sized bottle and move it back and forth.",
+    "Lift the white cylindrical bottle using the left arm and shake it sideways.",
+    "Hold the handheld white bottle with cap and move it side to side.",
+    "Grab the white bottle with orange lid and move it side-to-side repeatedly.",
+    "Lift the cylindrical bottle with red writing and move it side-to-side.",
+    "Use the left arm to hold the medium-sized bottle and shake it sideways.",
+    "Shake the plastic bottle side-to-side after grabbing it.",
+    "Pick up the white bottle using the left arm and shake sideways.",
+    "Use the left arm to grab the cylindrical bottle with red writing and move it horizontally.",
+    "With the left arm, grab the bottle with orange screw cap and shake it horizontally.",
+    "Lift the white cylindrical bottle and shake it horizontally.",
+    "Shake the cylindrical bottle with red writing from side to side.",
+    "Pick up the cylindrical bottle with red writing with the left arm, shake it sideways.",
+    "Hold the cylindrical bottle with red writing steady and shake it horizontally.",
+    "Grab the smooth bottle with the left arm and shake horizontally.",
+    "Shake the white bottle smoothly without using the left arm reference.",
+    "Take the white bottle for liquids in the left arm and shake it back and forth.",
+    "Pick up the white bottle and shake it horizontally.",
+    "Hold the handheld white bottle with cap using the left arm and shake it horizontally.",
+    "Grab the medium-sized bottle using the left arm and move it side-to-side.",
+    "Grab the white bottle for liquids, shake it horizontally, then release.",
+    "Pick the white bottle with orange lid using the left arm and move it horizontally.",
+    "Utilize the left arm to grab the white bottle with red text and shake sideways.",
+    "Using the left arm, shake the bottle with tapering neck horizontally.",
+    "Shake the handheld white bottle with cap horizontally after lifting with the left arm.",
+    "Hold the medium-sized bottle with the left arm and move it left and right.",
+    "Using the left arm, pick up the plastic bottle and shake sideways.",
+    "Simply shake the white cylindrical bottle horizontally without the left arm details.",
+    "Use the left arm to grab the smooth bottle and shake horizontally.",
+    "Pick the plastic bottle, then shake it horizontally.",
+    "Lift the white bottle for liquids with the left arm, then shake it side to side.",
+    "Secure the handheld white bottle with cap with the left arm, shake in horizontal motion.",
+    "Use the left arm to hold the plastic bottle firmly and shake horizontally.",
+    "Pick up the white bottle for liquids using the left arm, shake it horizontally.",
+    "Pick up the bottle with orange screw cap and shake it from side to side.",
+    "Hold the white bottle with orange lid with the left arm and shake horizontally.",
+    "Grip the white bottle with red text, then shake it back and forth.",
+    "Using the left arm, grab the white bottle for liquids and shake it sideways.",
+    "Lift the white bottle with orange lid using the left arm and shake horizontally.",
+    "Hold the white bottle and move it side to side.",
+    "Shake the white cylindrical bottle side-to-side after grabbing it.",
+    "Take hold of the bottle with tapering neck using the left arm and move horizontally.",
+    "Pick up the plastic bottle and shake it side to side.",
+    "Shake the white bottle with red text horizontally.",
+    "Hold the smooth bottle and shake it side to side.",
+    "Grab the white cylindrical bottle and shake in a horizontal motion.",
+    "Move the plastic bottle side-to-side after grabbing it.",
+    "Grab and shake the white bottle with orange lid horizontally.",
+    "Pick the white bottle up and shake it horizontally.",
+    "Use the left arm to pick the white bottle with red text and shake it horizontally.",
+    "Lift the white bottle and move it back and forth.",
+    "Lift the bottle with orange screw cap using the left arm and shake it sideways.",
+    "Hold the smooth bottle and move it side to side.",
+    "Grab the cylindrical bottle with red writing and move it side-to-side repeatedly.",
+    "Lift the bottle with tapering neck and move it side-to-side.",
+    "Use the left arm to hold the white bottle for liquids and shake it sideways.",
+    "Shake the white bottle for liquids side-to-side after grabbing it.",
+    "Pick up the white bottle with red text using the left arm and shake sideways.",
+    "Use the left arm to grab the bottle with tapering neck and move it horizontally.",
+    "With the left arm, grab the white bottle and shake it horizontally.",
+    "Lift the bottle with orange screw cap and shake it horizontally.",
+    "Shake the cylindrical bottle with red writing from side to side.",
+    "Pick up the plastic bottle with the left arm, shake it sideways.",
+    "Hold the white bottle for liquids steady and shake it horizontally.",
+    "Grab the white bottle with red text with the left arm and shake horizontally.",
+    "Shake the bottle with orange screw cap smoothly without using the left arm reference.",
+    "Take the smooth bottle in the left arm and shake it back and forth.",
+    "Pick up the white bottle and shake it horizontally.",
+    "Hold the white bottle with red text using the left arm and shake it horizontally.",
+    "Grab the white bottle for liquids using the left arm and move it side-to-side.",
+    "Grab the medium-sized bottle, shake it horizontally, then release.",
+    "Pick the smooth bottle using the left arm and move it horizontally.",
+    "Utilize the left arm to grab the handheld white bottle with cap and shake sideways.",
+    "Using the left arm, shake the handheld white bottle with cap horizontally.",
+    "Shake the smooth bottle horizontally after lifting with the left arm.",
+    "Hold the white cylindrical bottle with the left arm and move it left and right.",
+    "Using the left arm, pick up the handheld white bottle with cap and shake sideways.",
+    "Simply shake the white bottle for liquids horizontally without the left arm details.",
+    "Use the left arm to grab the smooth bottle and shake horizontally.",
+    "Pick the handheld white bottle with cap, then shake it horizontally.",
+    "Lift the smooth bottle with the left arm, then shake it side to side."
+  ]
+}
diff --git a/stack_blocks_two/episode_0000001/TCP_head/metadata.json b/stack_blocks_two/episode_0000001/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a80f53322998f8a54a3e6a2a6128eac2f887228
--- /dev/null
+++ b/stack_blocks_two/episode_0000001/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    340,
+    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_two/episode_0000001/metadata.json b/stack_blocks_two/episode_0000001/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5baf3107492a04e624db7fbe9cf8b2e32b1d0cc
--- /dev/null
+++ b/stack_blocks_two/episode_0000001/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stack_blocks_two",
+  "episode": "episode_0000001",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_blocks_two/aloha_agilex/data/episode_0000001.hdf5",
+  "num_frames": 340,
+  "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": [
+      340,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      340,
+      14
+    ],
+    "action_shape": [
+      340,
+      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 up red block and green block, set them at the center, then position green block above red block.",
+    "Set red block and green block at the center, stacking green block atop 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.",
+    "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.",
+    "Place red block and green block in the center, then stack green block above red block.",
+    "Center red block and green block on the table and stack green block on top of red block.",
+    "Move red block and green block to the center, then stack green block above 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 center using the right arm, then stack green block on red block using the left arm.",
+    "Shift red block and green block to the middle, then stack green block over 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.",
+    "the right arm moves red block to the center, the left arm stacks green block onto red block.",
+    "Set red block and green block at the table's center, then stack green block on red block.",
+    "Place red block and green block together at the center, then stack green block on top.",
+    "the right arm takes red block, sets it in the center, the left arm places green block on red block.",
+    "Center red block using the right arm, then stack green block with the left arm on top.",
+    "Position red block at the center and stack green block above it.",
+    "Shift red block and green block to the center, then position green block on red block.",
+    "Shift red block to the center and place green block on top.",
+    "Use the right arm to move red block and the left arm to stack green block.",
+    "Use the right arm to center red block, then stack green block with the left arm.",
+    "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.",
+    "Relocate red block and green block to the center, then layer green block over 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.",
+    "Bring red block to the center, then stack green block over it.",
+    "Place red block and green block at the center and then put green block on red block.",
+    "Use the right arm to place red block in the center; stack green block on it with the left arm.",
+    "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.",
+    "Set red block in the center, then position green block on top of it.",
+    "Move red block and green block to the center; stack green block on top of red block.",
+    "Grab red block, set it in the center, then stack green block over it.",
+    "Relocate red block to the middle and place green block on it.",
+    "Set red block at the center, then stack green block over red block after placing it alongside.",
+    "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 position green block.",
+    "Position red block and green block at the center, then stack 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.",
+    "Place red block in the center, then move green block there and stack green block on red block.",
+    "Put red block in the center, then add green block above it.",
+    "Place red block and green block centrally, then stack green block on red block.",
+    "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.",
+    "Move red block with the right arm, then stack green block on it using the left arm.",
+    "Shift red block and green block to the center and stack green block on red block.",
+    "Move red block to the middle and put green block on top of it.",
+    "Pick up red block and green block, set them at the center, then position green block above red block.",
+    "Set red block and green block at the center, stacking green block atop 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.",
+    "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.",
+    "Place red block and green block in the center, then stack green block above red block.",
+    "Center red block and green block on the table and stack green block on top of red block.",
+    "Move red block and green block to the center, then stack green block above 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 center using the right arm, then stack green block on red block using the left arm.",
+    "Shift red block and green block to the middle, then stack green block over 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.",
+    "the right arm moves red block to the center, the left arm stacks green block onto red block.",
+    "Set red block and green block at the table's center, then stack green block on red block.",
+    "Place red block and green block together at the center, then stack green block on top.",
+    "the right arm takes red block, sets it in the center, the left arm places green block on red block.",
+    "Center red block using the right arm, then stack green block with the left arm on top.",
+    "Position red block at the center and stack green block above it.",
+    "Shift red block and green block to the center, then position green block on red block.",
+    "Shift red block to the center and place green block on top.",
+    "Use the right arm to move red block and the left arm to stack green block.",
+    "Use the right arm to center red block, then stack green block with the left arm.",
+    "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.",
+    "Relocate red block and green block to the center, then layer green block over 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.",
+    "Bring red block to the center, then stack green block over it.",
+    "Place red block and green block at the center and then put green block on red block.",
+    "Use the right arm to place red block in the center; stack green block on it with the left arm.",
+    "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.",
+    "Set red block in the center, then position green block on top of it.",
+    "Move red block and green block to the center; stack green block on top of red block.",
+    "Grab red block, set it in the center, then stack green block over it.",
+    "Relocate red block to the middle and place green block on it.",
+    "Set red block at the center, then stack green block over red block after placing it alongside.",
+    "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 position green block.",
+    "Position red block and green block at the center, then stack 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.",
+    "Place red block in the center, then move green block there and stack green block on red block.",
+    "Put red block in the center, then add green block above it.",
+    "Place red block and green block centrally, then stack green block on red block.",
+    "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.",
+    "Move red block with the right arm, then stack green block on it using the left arm.",
+    "Shift red block and green block to the center and stack green block on red block.",
+    "Move red block to the middle and put green block on top of it.",
+    "Pick up red block and green block, set them at the center, then position green block above red block.",
+    "Set red block and green block at the center, stacking green block atop 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.",
+    "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.",
+    "Place red block and green block in the center, then stack green block above red block.",
+    "Center red block and green block on the table and stack green block on top of red block.",
+    "Move red block and green block to the center, then stack green block above 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 center using the right arm, then stack green block on red block using the left arm.",
+    "Shift red block and green block to the middle, then stack green block over 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.",
+    "the right arm moves red block to the center, the left arm stacks green block onto red block."
+  ]
+}