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+  "format": "robotwin_tcp_v1",
+  "shape": [
+    480,
+    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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diff --git a/move_stapler_pad/episode_0000028/TCP_third/metadata.json b/move_stapler_pad/episode_0000028/TCP_third/metadata.json
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index 0000000000000000000000000000000000000000..1e472288ce3f1fb2f091b241b207bce39df778cb
--- /dev/null
+++ b/move_stapler_pad/episode_0000028/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    176,
+    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/move_stapler_pad/episode_0000034/TCP_head/metadata.json b/move_stapler_pad/episode_0000034/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..84667f0fda94d36a8fa1182bc7d4b7f3b4add005
--- /dev/null
+++ b/move_stapler_pad/episode_0000034/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    170,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/move_stapler_pad/episode_0000034/metadata.json b/move_stapler_pad/episode_0000034/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fc8e505b8f2b85823c2982b770e12e122e3e855
--- /dev/null
+++ b/move_stapler_pad/episode_0000034/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_stapler_pad",
+  "episode": "episode_0000034",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_stapler_pad/aloha_agilex/data/episode_0000034.hdf5",
+  "num_frames": 170,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      170,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      170,
+      14
+    ],
+    "action_shape": [
+      170,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "With the left arm, move the compact black stapler to the Black mat",
+    "Grab the stapler with silver staple tray and drop it on Black mat.",
+    "Pick the black stapler for joining pages up and position it on Black mat",
+    "Pick up the black stapler for joining pages with the left arm and set it on Black",
+    "Shift the black stapler with shiny interior manually to the Black mat",
+    "Move the curved black stapler to the Black mat.",
+    "the left arm grabs the curved black stapler and sets it on Black mat.",
+    "Set the small black stapler with metal core down on the Black mat",
+    "Position the small black stapler with metal core on the Black mat.",
+    "Grab the black stapler for joining pages with the left arm and drop it on Black mat.",
+    "Place the black smooth-textured stapler onto the Black colored mat.",
+    "Set the handheld black stapler onto the Black colored mat.",
+    "Lift the black stapler with curved top and drop it onto Black mat",
+    "Using the left arm, set the handheld black stapler on the Black colored mat",
+    "Place the black stapler with smooth finish onto the Black colored mat",
+    "Relocate the black stapler with rectangular base to the Black mat.",
+    "Set the black stapler with rectangular base on the Black mat with the left arm.",
+    "Use the left arm to place the black stapler with curved top onto the Black mat",
+    "Set the black stapler with shiny interior down on the Black mat",
+    "Move the black stapler with rectangular base with the left arm to the Black mat",
+    "Lift the black stapler with rectangular base to the Black mat using the left arm",
+    "With the left arm, position the black stapler for joining pages on the Black mat",
+    "Relocate the black stapler with curved top to the Black colored mat",
+    "Put the stapler with silver inner plates on the Black mat",
+    "Use the left arm and place the curved black stapler on Black mat.",
+    "the left arm moves the small black stapler with metal core to the Black mat.",
+    "Place the compact black stapler on the Black mat using the left arm",
+    "Stick the small black stapler with metal core onto the Black colored mat.",
+    "Slide the black stapler with shiny interior to the Black colored mat.",
+    "Transfer the curved black stapler to the Black colored mat.",
+    "the left arm places the black stapler with smooth finish on the Black mat.",
+    "Transfer the black stapler with rectangular base to the Black mat",
+    "Use the left arm to grab the curved black stapler and place it on Black mat",
+    "Drop the stapler with silver inner plates onto the Black mat.",
+    "Shift the black stapler with curved top to the Black mat",
+    "Pick the black stapler with rectangular base using the left arm and move it to Black mat.",
+    "Pick up the black stapler with rectangular base and place it on Black mat",
+    "Carry the small black stapler with metal core to the Black colored mat",
+    "Grab the black stapler with shiny interior and stick it onto Black mat",
+    "Grab the stapler with silver staple tray using the left arm and shift it to Black",
+    "the left arm transfers the black stapler with curved top to the Black mat.",
+    "Pick the black stapler with smooth finish with the left arm and place it on Black mat",
+    "Grab the handheld black stapler, place it on the Black mat",
+    "Drop the handheld black stapler carefully on the Black mat",
+    "Move the curved black stapler to the Black mat with the left arm",
+    "Stick the handheld black stapler on the Black mat.",
+    "Use the left arm to shift the curved black stapler onto the Black mat",
+    "Carry the handheld black stapler and drop it onto the Black mat",
+    "Grab the handheld black stapler using the left arm and set it on Black mat.",
+    "With the left arm, move the black smooth-textured stapler to the Black mat",
+    "Grab the black smooth-textured stapler and drop it on Black mat.",
+    "Pick the black stapler for joining pages up and position it on Black mat",
+    "Pick up the small black stapler with metal core with the left arm and set it on Black",
+    "Shift the handheld black stapler manually to the Black mat",
+    "Move the stapler with silver inner plates to the Black mat.",
+    "the left arm grabs the small black stapler with metal core and sets it on Black mat.",
+    "Set the black stapler with curved top down on the Black mat",
+    "Position the stapler with silver staple tray on the Black mat.",
+    "Grab the black stapler for joining pages with the left arm and drop it on Black mat.",
+    "Place the curved black stapler onto the Black colored mat.",
+    "Set the compact black stapler onto the Black colored mat.",
+    "Lift the black stapler for joining pages and drop it onto Black mat",
+    "Using the left arm, set the black smooth-textured stapler on the Black colored mat",
+    "Place the stapler with silver inner plates onto the Black colored mat",
+    "Relocate the small black stapler with metal core to the Black mat.",
+    "Set the stapler with silver inner plates on the Black mat with the left arm.",
+    "Use the left arm to place the black stapler with rectangular base onto the Black mat",
+    "Set the stapler with silver staple tray down on the Black mat",
+    "Move the black stapler with curved top with the left arm to the Black mat",
+    "Lift the small black stapler with metal core to the Black mat using the left arm",
+    "With the left arm, position the compact black stapler on the Black mat",
+    "Relocate the black stapler for joining pages to the Black colored mat",
+    "Put the stapler with silver inner plates on the Black mat",
+    "Use the left arm and place the black stapler with smooth finish on Black mat.",
+    "the left arm moves the black stapler for joining pages to the Black mat.",
+    "Place the black stapler with curved top on the Black mat using the left arm",
+    "Stick the curved black stapler onto the Black colored mat.",
+    "Slide the black stapler with curved top to the Black colored mat.",
+    "Transfer the compact black stapler to the Black colored mat.",
+    "the left arm places the curved black stapler on the Black mat.",
+    "Transfer the black smooth-textured stapler to the Black mat",
+    "Use the left arm to grab the black smooth-textured stapler and place it on Black mat",
+    "Drop the small black stapler with metal core onto the Black mat.",
+    "Shift the black stapler with smooth finish to the Black mat",
+    "Pick the stapler with silver inner plates using the left arm and move it to Black mat.",
+    "Pick up the black stapler with smooth finish and place it on Black mat",
+    "Carry the black smooth-textured stapler to the Black colored mat",
+    "Grab the black smooth-textured stapler and stick it onto Black mat",
+    "Grab the black stapler for joining pages using the left arm and shift it to Black",
+    "the left arm transfers the stapler with silver inner plates to the Black mat.",
+    "Pick the black stapler with smooth finish with the left arm and place it on Black mat",
+    "Grab the black stapler with smooth finish, place it on the Black mat",
+    "Drop the black stapler for joining pages carefully on the Black mat",
+    "Move the black stapler for joining pages to the Black mat with the left arm",
+    "Stick the stapler with silver inner plates on the Black mat.",
+    "Use the left arm to shift the black stapler with rectangular base onto the Black mat",
+    "Carry the black stapler with rectangular base and drop it onto the Black mat",
+    "Grab the curved black stapler using the left arm and set it on Black mat.",
+    "With the left arm, move the black stapler with shiny interior to the Black mat",
+    "Grab the handheld black stapler and drop it on Black mat."
+  ]
+}
diff --git a/pick_dual_bottles/episode_0000010/TCP_head/metadata.json b/pick_dual_bottles/episode_0000010/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..858c86cf55055919ab5c43b2cca965e89aaa5ba0
--- /dev/null
+++ b/pick_dual_bottles/episode_0000010/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    132,
+    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/pick_dual_bottles/episode_0000010/TCP_third/metadata.json b/pick_dual_bottles/episode_0000010/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73d6e5303a4f665b495dc917ac59c82e6b3b2b2
--- /dev/null
+++ b/pick_dual_bottles/episode_0000010/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    132,
+    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/pick_dual_bottles/episode_0000010/metadata.json b/pick_dual_bottles/episode_0000010/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..51274b60ea23fb16cb38bae50c9126c5cd2b4905
--- /dev/null
+++ b/pick_dual_bottles/episode_0000010/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "pick_dual_bottles",
+  "episode": "episode_0000010",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/pick_dual_bottles/aloha_agilex/data/episode_0000010.hdf5",
+  "num_frames": 132,
+  "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": [
+      132,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      132,
+      14
+    ],
+    "action_shape": [
+      132,
+      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": [
+    "Take the medium dark brown bottle and the bottle with ridges near base together, one per arm.",
+    "Hold both the hand-sized soda bottle and the handheld green bottle, one in each arm.",
+    "Raise the bottle with ridges on bottom and the bottle with narrow top at the same time.",
+    "Raise both bottles together, the bottle with white neck and red top and the medium green bottle with capped neck.",
+    "Pick the dark drink bottle with logo and the medium-sized green bottle up in parallel.",
+    "Use each arm to secure one bottle, the bottle with ridges on bottom and the bottle with ridges near base.",
+    "Raise both the hand-sized soda bottle and the smooth green bottle simultaneously.",
+    "Lift the dark drink bottle with logo with one arm and the smooth green plastic bottle with the other.",
+    "Grab both bottles at once: the brown bottle with red label and the bottle with rounded neck.",
+    "Pick up the bottle with ridges on bottom and the bottle with ridges near base simultaneously.",
+    "Grab the hand-sized soda bottle and the bottle with rounded neck together.",
+    "Lift the two bottles the dark drink bottle with logo and the bottle with ridges near base together.",
+    "Simultaneously grasp and lift the narrow-necked bottle and the green bottle with indented base.",
+    "Grasp both bottles, the smooth bottle with red lid and the smooth green plastic bottle, simultaneously.",
+    "Use both arms together to pick the smooth bottle with red lid and the medium-sized green bottle.",
+    "Use separate arms to grasp the narrow-necked bottle and the bottle with narrow top simultaneously.",
+    "Secure the dark drink bottle with logo and the bottle with white printed label simultaneously with separate arms.",
+    "Take hold of the plastic drink bottle and the medium-sized green bottle at once.",
+    "Use both arms to lift the long thin bottle and the smooth green bottle together.",
+    "Hold the plastic drink bottle in one arm and the green bottle with indented base in the other.",
+    "Pick up the narrow-necked bottle and the medium green bottle with capped neck in one synchronized motion.",
+    "Pick the bottle with ridges on bottom as the other arm picks the bottle with narrow top.",
+    "Grasp the hand-sized soda bottle and the bottle with narrow top at the same time.",
+    "Use one arm for the smooth bottle with red lid and the other for the medium-sized green bottle.",
+    "Catch the red-capped bottle and the bottle with rounded neck in parallel.",
+    "Lift the Coca-Cola bottle and the smooth green plastic bottle together with both arms.",
+    "Each arm should lift one bottle: the smooth bottle with red lid and the smooth green bottle.",
+    "Pick up both the long thin bottle and the medium-sized green bottle using separate arms.",
+    "Use each arm to grab one of the brown bottle with red label and the green bottle with indented base.",
+    "Reach for the bottle with ridges on bottom and the plastic bottle with both arms simultaneously.",
+    "Take the narrow-necked bottle and the smooth green bottle together, one per arm.",
+    "Hold both the Coca-Cola bottle and the smooth green bottle, one in each arm.",
+    "Raise the hand-sized soda bottle and the bottle with rounded neck at the same time.",
+    "Raise both bottles together, the dark drink bottle with logo and the medium-sized green bottle.",
+    "Pick the hand-sized soda bottle and the smooth green bottle up in parallel.",
+    "Use each arm to secure one bottle, the bottle with ridges on bottom and the medium green bottle with capped neck.",
+    "Raise both the narrow-necked bottle and the handheld green bottle simultaneously.",
+    "Lift the long thin bottle with one arm and the medium green bottle with the other.",
+    "Grab both bottles at once: the narrow-necked bottle and the medium green bottle with capped neck.",
+    "Pick up the bottle with ridges on bottom and the smooth green plastic bottle simultaneously.",
+    "Grab the dark drink bottle with logo and the bottle with narrow top together.",
+    "Lift the two bottles the smooth bottle with red lid and the green bottle with indented base together.",
+    "Simultaneously grasp and lift the hand-sized soda bottle and the medium green bottle.",
+    "Grasp both bottles, the bottle with white neck and red top and the bottle with narrow top, simultaneously.",
+    "Use both arms together to pick the red-capped bottle and the green bottle with indented base.",
+    "Use separate arms to grasp the plastic drink bottle and the bottle with rounded neck simultaneously.",
+    "Secure the dark drink bottle with logo and the green bottle with indented base simultaneously with separate arms.",
+    "Take hold of the dark drink bottle with logo and the bottle with narrow top at once.",
+    "Use both arms to lift the bottle with ridges on bottom and the bottle with white printed label together.",
+    "Hold the bottle with white neck and red top in one arm and the medium green bottle in the other.",
+    "Pick up the smooth bottle with red lid and the bottle with ridges near base in one synchronized motion.",
+    "Pick the narrow-necked bottle as the other arm picks the medium-sized green bottle.",
+    "Grasp the smooth bottle with red lid and the medium green bottle with capped neck at the same time.",
+    "Use one arm for the bottle with ridges on bottom and the other for the smooth green plastic bottle.",
+    "Catch the bottle with white neck and red top and the bottle with white printed label in parallel.",
+    "Lift the Coca-Cola bottle and the smooth green plastic bottle together with both arms.",
+    "Each arm should lift one bottle: the bottle with white neck and red top and the bottle with white printed label.",
+    "Pick up both the plastic drink bottle and the medium green bottle using separate arms.",
+    "Use each arm to grab one of the smooth bottle with red lid and the bottle with rounded neck.",
+    "Reach for the bottle with ridges on bottom and the smooth green bottle with both arms simultaneously.",
+    "Take the smooth bottle with red lid and the bottle with white printed label together, one per arm.",
+    "Hold both the bottle with ridges on bottom and the handheld green bottle, one in each arm.",
+    "Raise the bottle with ridges on bottom and the medium-sized green bottle at the same time.",
+    "Raise both bottles together, the narrow-necked bottle and the medium green bottle with capped neck.",
+    "Pick the narrow-necked bottle and the smooth green plastic bottle up in parallel.",
+    "Use each arm to secure one bottle, the Coca-Cola bottle and the bottle with narrow top.",
+    "Raise both the red-capped bottle and the green bottle with indented base simultaneously.",
+    "Lift the long thin bottle with one arm and the handheld green bottle with the other.",
+    "Grab both bottles at once: the medium dark brown bottle and the medium-sized green bottle.",
+    "Pick up the red-capped bottle and the handheld green bottle simultaneously.",
+    "Grab the medium dark brown bottle and the handheld green bottle together.",
+    "Lift the two bottles the Coca-Cola bottle and the medium green bottle together.",
+    "Simultaneously grasp and lift the dark drink bottle with logo and the smooth green bottle.",
+    "Grasp both bottles, the hand-sized soda bottle and the plastic bottle, simultaneously.",
+    "Use both arms together to pick the plastic drink bottle and the bottle with rounded neck.",
+    "Use separate arms to grasp the brown bottle with red label and the green bottle with indented base simultaneously.",
+    "Secure the long thin bottle and the handheld green bottle simultaneously with separate arms.",
+    "Take hold of the hand-sized soda bottle and the plastic bottle at once.",
+    "Use both arms to lift the red-capped bottle and the medium green bottle together.",
+    "Hold the red-capped bottle in one arm and the medium green bottle in the other.",
+    "Pick up the hand-sized soda bottle and the medium-sized green bottle in one synchronized motion.",
+    "Pick the bottle with white neck and red top as the other arm picks the bottle with rounded neck.",
+    "Grasp the brown bottle with red label and the medium green bottle at the same time.",
+    "Use one arm for the narrow-necked bottle and the other for the plastic bottle.",
+    "Catch the long thin bottle and the bottle with narrow top in parallel.",
+    "Lift the narrow-necked bottle and the bottle with rounded neck together with both arms.",
+    "Each arm should lift one bottle: the medium dark brown bottle and the green bottle with indented base.",
+    "Pick up both the bottle with ridges on bottom and the medium green bottle with capped neck using separate arms.",
+    "Use each arm to grab one of the bottle with white neck and red top and the handheld green bottle.",
+    "Reach for the dark drink bottle with logo and the smooth green plastic bottle with both arms simultaneously.",
+    "Take the long thin bottle and the bottle with rounded neck together, one per arm.",
+    "Hold both the long thin bottle and the plastic bottle, one in each arm.",
+    "Raise the bottle with ridges on bottom and the plastic bottle at the same time.",
+    "Raise both bottles together, the hand-sized soda bottle and the bottle with ridges near base.",
+    "Pick the long thin bottle and the bottle with white printed label up in parallel.",
+    "Use each arm to secure one bottle, the bottle with ridges on bottom and the plastic bottle.",
+    "Raise both the dark drink bottle with logo and the smooth green plastic bottle simultaneously.",
+    "Lift the bottle with white neck and red top with one arm and the bottle with white printed label with the other.",
+    "Grab both bottles at once: the plastic drink bottle and the bottle with white printed label.",
+    "Pick up the red-capped bottle and the medium green bottle simultaneously."
+  ]
+}
diff --git a/pick_dual_bottles/episode_0000020/TCP_third/metadata.json b/pick_dual_bottles/episode_0000020/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..339316c013c4fe6c4c56abf4c5ea6f24a1ed292e
--- /dev/null
+++ b/pick_dual_bottles/episode_0000020/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    123,
+    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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+    "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 right arm to hold the black plastic bottle with Pepsi logo and shake it.",
+    "Secure the medium bottle with yellow cap, shake it, and place it down.",
+    "Grab the yellow capped drink bottle and move it to shake.",
+    "Hold and shake the medium bottle with yellow cap carefully.",
+    "Use the right arm to lift and shake the smooth black bottle with ridges.",
+    "Shake the plastic bottle with colorful label thoroughly after grabbing it.",
+    "Grip the yellow capped drink bottle using the right arm and shake.",
+    "Pick the black plastic bottle with Pepsi logo, shake it with the right arm.",
+    "Hold the yellow-capped cylindrical bottle and shake it properly.",
+    "Grab and shake the yellow capped drink bottle using the right arm.",
+    "Grab the black plastic bottle with Pepsi logo firmly, shake it, and put it down.",
+    "Utilize the right arm to hold the medium bottle with yellow cap and shake it.",
+    "Pick the black cylindrical bottle with ridges up using the right arm and shake it.",
+    "Using the right arm, shake the medium black bottle with printed label and then place it back.",
+    "Take the yellow capped drink bottle using the right arm and give it a shake.",
+    "Grab the plastic bottle with colorful label carefully and shake.",
+    "Catch the medium black bottle with printed label and shake it instantly.",
+    "Grasp the plastic bottle with colorful label with the right arm and shake it.",
+    "Lift up the medium bottle with yellow cap using the right arm, then shake.",
+    "Use the right arm to pick and shake the yellow-capped cylindrical bottle.",
+    "Secure the medium bottle with yellow cap and perform a shake.",
+    "Use the right arm to grab the bottle with blue and yellow print and shake properly.",
+    "Hold the plastic bottle with colorful label steady, then shake it.",
+    "Use the right arm to grab the bottle with blue and yellow print and shake it.",
+    "Shake the smooth black bottle with ridges properly after lifting.",
+    "Pick the yellow-capped cylindrical bottle and perform shaking motion.",
+    "Use the right arm to lift and shake the black plastic bottle with Pepsi logo.",
+    "Pick up the beverage bottle with black body and shake it well.",
+    "Shake the drink bottle with rounded yellow lid using the right arm after grabbing.",
+    "Pick up the yellow capped drink bottle and shake it.",
+    "Grab the plastic bottle with colorful label and shake it steadily.",
+    "Shake the plastic bottle with colorful label firmly after grabbing.",
+    "Hold the black bottle with the right arm and shake lightly.",
+    "Lift the yellow-capped cylindrical bottle and shake it thoroughly.",
+    "Shake the black bottle after lifting it.",
+    "Grab the black cylindrical bottle with ridges and give it a shake.",
+    "Shake the black cylindrical bottle with ridges after grabbing it.",
+    "Lift the medium black bottle with printed label with the right arm and shake it.",
+    "Shake the beverage bottle with black body after holding it firmly.",
+    "Lift the plastic bottle with colorful label and shake it gently.",
+    "Lift the plastic bottle with colorful label with the right arm and shake.",
+    "With the right arm, pick the medium black bottle with printed label and shake properly.",
+    "Shake the black plastic bottle with Pepsi logo after grabbing it.",
+    "Shake the black cylindrical bottle with ridges after grabbing it.",
+    "Pick the black cylindrical bottle with ridges up with the right arm and shake.",
+    "Hold the yellow capped drink bottle, shake it briefly.",
+    "Grab the yellow capped drink bottle with the right arm and shake.",
+    "Grab the plastic bottle with colorful label using the right arm, then shake.",
+    "Lift the drink bottle with rounded yellow lid with the right arm and give it a shake.",
+    "Use the right arm to lift and shake the medium black bottle with printed label.",
+    "Use the right arm to hold the drink bottle with rounded yellow lid and shake it.",
+    "Secure the medium bottle with yellow cap, shake it, and place it down.",
+    "Grab the medium bottle with yellow cap and move it to shake.",
+    "Hold and shake the medium bottle with yellow cap carefully.",
+    "Use the right arm to lift and shake the plastic bottle with colorful label.",
+    "Shake the black cylindrical bottle with ridges thoroughly after grabbing it.",
+    "Grip the beverage bottle with black body using the right arm and shake.",
+    "Pick the black plastic bottle with Pepsi logo, shake it with the right arm.",
+    "Hold the medium black bottle with printed label and shake it properly.",
+    "Grab and shake the medium bottle with yellow cap using the right arm.",
+    "Grab the bottle with blue and yellow print firmly, shake it, and put it down.",
+    "Utilize the right arm to hold the smooth black bottle with ridges and shake it.",
+    "Pick the yellow-capped cylindrical bottle up using the right arm and shake it.",
+    "Using the right arm, shake the yellow-capped cylindrical bottle and then place it back.",
+    "Take the smooth black bottle with ridges using the right arm and give it a shake.",
+    "Grab the drink bottle with rounded yellow lid carefully and shake.",
+    "Catch the yellow capped drink bottle and shake it instantly.",
+    "Grasp the plastic bottle with colorful label with the right arm and shake it.",
+    "Lift up the medium black bottle with printed label using the right arm, then shake.",
+    "Use the right arm to pick and shake the medium black bottle with printed label.",
+    "Secure the bottle with blue and yellow print and perform a shake.",
+    "Use the right arm to grab the yellow-capped cylindrical bottle and shake properly.",
+    "Hold the drink bottle with rounded yellow lid steady, then shake it.",
+    "Use the right arm to grab the medium black bottle with printed label and shake it.",
+    "Shake the yellow-capped cylindrical bottle properly after lifting.",
+    "Pick the black cylindrical bottle with ridges and perform shaking motion.",
+    "Use the right arm to lift and shake the beverage bottle with black body.",
+    "Pick up the beverage bottle with black body and shake it well.",
+    "Shake the drink bottle with rounded yellow lid using the right arm after grabbing.",
+    "Pick up the bottle with blue and yellow print and shake it.",
+    "Grab the medium bottle with yellow cap and shake it steadily.",
+    "Shake the drink bottle with rounded yellow lid firmly after grabbing.",
+    "Hold the black cylindrical bottle with ridges with the right arm and shake lightly.",
+    "Lift the yellow-capped cylindrical bottle and shake it thoroughly.",
+    "Shake the black bottle after lifting it.",
+    "Grab the black plastic bottle with Pepsi logo and give it a shake.",
+    "Shake the black bottle after grabbing it.",
+    "Lift the plastic bottle with colorful label with the right arm and shake it.",
+    "Shake the black plastic bottle with Pepsi logo after holding it firmly.",
+    "Lift the drink bottle with rounded yellow lid and shake it gently.",
+    "Lift the yellow-capped cylindrical bottle with the right arm and shake.",
+    "With the right arm, pick the bottle with blue and yellow print and shake properly.",
+    "Shake the smooth black bottle with ridges after grabbing it.",
+    "Shake the yellow-capped cylindrical bottle after grabbing it.",
+    "Pick the black bottle up with the right arm and shake.",
+    "Hold the black bottle, shake it briefly.",
+    "Grab the drink bottle with rounded yellow lid with the right arm and shake.",
+    "Grab the medium black bottle with printed label using the right arm, then shake.",
+    "Lift the drink bottle with rounded yellow lid with the right arm and give it a shake.",
+    "Use the right arm to lift and shake the beverage bottle with black body."
+  ]
+}
diff --git a/shake_bottle_horizontally/episode_0000044/TCP_third/metadata.json b/shake_bottle_horizontally/episode_0000044/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4786f90402fe5a34bd10986aa707342dfa4f06f6
--- /dev/null
+++ b/shake_bottle_horizontally/episode_0000044/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    310,
+    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_bowls_two/episode_0000014/TCP_head/metadata.json b/stack_bowls_two/episode_0000014/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed1a8449c7f511e2becb4fd7cc96a86e665e7e3f
--- /dev/null
+++ b/stack_bowls_two/episode_0000014/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    332,
+    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_bowls_two/episode_0000014/metadata.json b/stack_bowls_two/episode_0000014/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..002863e78c1fb77e41f2efc4a39bc5f97bfc49c5
--- /dev/null
+++ b/stack_bowls_two/episode_0000014/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stack_bowls_two",
+  "episode": "episode_0000014",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_bowls_two/aloha_agilex/data/episode_0000014.hdf5",
+  "num_frames": 332,
+  "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": [
+      332,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      332,
+      14
+    ],
+    "action_shape": [
+      332,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Place the curved bowl light blue shade down and stack the bowl with brown outer rim on top.",
+    "Stack the blue bowl with slightly rounded base securely on top of the glazed bowl with curved sides.",
+    "Position the small bowl with brown edge and stack the ceramic bowl securely onto it.",
+    "Set the blue bowl with slightly rounded base over the curved bowl light blue shade to create the stack.",
+    "Lift the bowl with brown outer rim, then stack it on the rounded bowl with light blue color.",
+    "Lift the ceramic bowl, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Hold the small bowl with brown edge and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Arrange the blue bowl, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Place the ceramic bowl down, then set the bowl with shiny texture on top of the ceramic bowl.",
+    "Take the curved bowl light blue shade, place it, and stack the dark inside bowl light blue outside on top.",
+    "Grab the ceramic bowl, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Position the bowl with shiny texture carefully on the bowl with shiny texture.",
+    "Set down the bowl with shiny texture and drop the curved bowl light blue shade on top.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Pick up the medium-sized bowl for holding food and set the rounded bowl with light blue color on it.",
+    "Hold the blue bowl steady and slide the medium-sized bowl for holding food on.",
+    "Grab the curved bowl light blue shade, then carefully place the ceramic bowl on top.",
+    "Grab the glazed bowl with curved sides, then stack the small bowl with brown edge on top.",
+    "Grab the blue bowl, position it, and place the bowl with brown outer rim on top.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the bowl with brown outer rim over it.",
+    "Lift the small bowl with brown edge, position the blue bowl with slightly rounded base above it, and stack.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the small bowl with brown edge.",
+    "Lift the bowl with brown outer rim, grab the ceramic bowl, and set the ceramic bowl on the bowl with brown outer rim.",
+    "Place the glazed bowl with curved sides down, then set the bowl with shiny texture above it.",
+    "Position the medium-sized bowl for holding food with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Take the medium-sized bowl for holding food, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Take the rounded bowl with light blue color, place the rounded bowl with light blue color above, and let go.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Set the blue bowl with slightly rounded base down, then add the rounded bowl with light blue color over it.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "With the left arm, lift the curved bowl light blue shade and stack the glazed bowl with curved sides using the right arm.",
+    "Place the rounded bowl with light blue color on the surface, then stack the glazed bowl with curved sides above it.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the bowl with brown outer rim with the right arm.",
+    "the bowl with brown outer rim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Pick the rounded bowl with light blue color, then stack the rounded bowl with light blue color on it.",
+    "Pick the bowl with brown outer rim, position on the table, and place the small bowl with brown edge over it.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the ceramic bowl on top.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the rounded bowl with light blue color.",
+    "Position the dark inside bowl light blue outside, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Align the medium-sized bowl for holding food and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the medium-sized bowl for holding food.",
+    "Put the rounded bowl with light blue color first, then bring the ceramic bowl to stack above.",
+    "Stack the medium-sized bowl for holding food carefully over the medium-sized bowl for holding food.",
+    "Align the dark inside bowl light blue outside over the rounded bowl with light blue color, then complete the stack.",
+    "Use the arm to place the curved bowl light blue shade, then stack the ceramic bowl on top.",
+    "Take the dark inside bowl light blue outside, align the small bowl with brown edge, and stack them.",
+    "Pick the bowl with shiny texture, position the blue bowl, and place it over the bowl with shiny texture.",
+    "Place the bowl with brown outer rim down and stack the bowl with shiny texture on top.",
+    "Stack the small bowl with brown edge securely on top of the blue bowl.",
+    "Position the rounded bowl with light blue color and stack the bowl with shiny texture securely onto it.",
+    "Set the rounded bowl with light blue color over the blue bowl to create the stack.",
+    "Lift the glazed bowl with curved sides, then stack it on the dark inside bowl light blue outside.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the bowl with shiny texture above.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the curved bowl light blue shade.",
+    "Hold the small bowl with brown edge and stack the small bowl with brown edge neatly atop.",
+    "Arrange the bowl with shiny texture, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Place the bowl with shiny texture down, then set the small bowl with brown edge on top of the bowl with shiny texture.",
+    "Take the dark inside bowl light blue outside, place it, and stack the rounded bowl with light blue color on top.",
+    "Grab the ceramic bowl, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Position the curved bowl light blue shade carefully on the glazed bowl with curved sides.",
+    "Set down the curved bowl light blue shade and drop the bowl with shiny texture on top.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Pick up the small bowl with brown edge and set the medium-sized bowl for holding food on it.",
+    "Hold the blue bowl with slightly rounded base steady and slide the curved bowl light blue shade on.",
+    "Grab the bowl with brown outer rim, then carefully place the rounded bowl with light blue color on top.",
+    "Grab the blue bowl, then stack the medium-sized bowl for holding food on top.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the blue bowl on top.",
+    "Grab the blue bowl, set it down, then place the blue bowl over it.",
+    "Lift the glazed bowl with curved sides, position the small bowl with brown edge above it, and stack.",
+    "Lift the ceramic bowl and position it neatly over the blue bowl with slightly rounded base.",
+    "Lift the small bowl with brown edge, grab the small bowl with brown edge, and set the small bowl with brown edge on the small bowl with brown edge.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl with earthy brown trim above it.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the curved bowl light blue shade above it.",
+    "Take the glazed bowl with curved sides, position it, then stack the glazed bowl with curved sides directly above.",
+    "Take the glazed bowl with curved sides, place the dark inside bowl light blue outside above, and let go.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the small bowl with brown edge on top.",
+    "Set the glazed bowl with curved sides down, then add the dark inside bowl light blue outside over it.",
+    "Lift the blue bowl using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "With the left arm, lift the curved bowl light blue shade and stack the bowl with shiny texture using the right arm.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Pick up the blue bowl, grab the small bowl with brown edge, and stack the small bowl with brown edge on the blue bowl.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the curved bowl light blue shade with the right arm.",
+    "the dark inside bowl light blue outside goes at the bottom, the bowl with brown outer rim rests above.",
+    "Pick the rounded bowl with light blue color, then stack the medium-sized bowl for holding food on it.",
+    "Pick the bowl with shiny texture, position on the table, and place the ceramic bowl over it.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the ceramic bowl on top.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the bowl with shiny texture.",
+    "Position the ceramic bowl with earthy brown trim, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the ceramic bowl with earthy brown trim.",
+    "Align the ceramic bowl with earthy brown trim and the bowl with shiny texture, then stack the bowl with shiny texture on the ceramic bowl with earthy brown trim.",
+    "Put the ceramic bowl first, then bring the small bowl with brown edge to stack above.",
+    "Stack the medium-sized bowl for holding food carefully over the bowl with brown outer rim.",
+    "Align the bowl with brown outer rim over the curved bowl light blue shade, then complete the stack.",
+    "Use the arm to place the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Take the small bowl with brown edge, align the small bowl with brown edge, and stack them.",
+    "Pick the ceramic bowl with earthy brown trim, position the rounded bowl with light blue color, and place it over the ceramic bowl with earthy brown trim.",
+    "Place the dark inside bowl light blue outside down and stack the bowl with brown outer rim on top.",
+    "Stack the dark inside bowl light blue outside securely on top of the blue bowl with slightly rounded base."
+  ]
+}
diff --git a/stack_bowls_two/episode_0000031/TCP_third/metadata.json b/stack_bowls_two/episode_0000031/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7671ed081cb3aecf46d0ae6a020fdc5699ad3562
--- /dev/null
+++ b/stack_bowls_two/episode_0000031/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    320,
+    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"
+}