diff --git a/grab_roller/episode_0000001/TCP_head/metadata.json b/grab_roller/episode_0000001/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ffcf7dca81643aef87addcee1dba604e09c0298
--- /dev/null
+++ b/grab_roller/episode_0000001/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    99,
+    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/grab_roller/episode_0000001/metadata.json b/grab_roller/episode_0000001/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..af8d80cba128cdf838042040fe56f797b7f14538
--- /dev/null
+++ b/grab_roller/episode_0000001/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "grab_roller",
+  "episode": "episode_0000001",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/grab_roller/aloha_agilex/data/episode_0000001.hdf5",
+  "num_frames": 99,
+  "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": [
+      99,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      99,
+      14
+    ],
+    "action_shape": [
+      99,
+      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": [
+    "Hold the wooden rolling tool with both arms to pick it up",
+    "Take hold of the roller with smooth and shiny texture.",
+    "Take hold of the roller with smooth and shiny texture using your arms.",
+    "Take the light brown roller directly from the table.",
+    "Bring both arms to grab the cylindrical roller with tapered ends.",
+    "Grasp the roller for smoothing materials firmly from the table.",
+    "Grip the medium-sized roller firmly with arms.",
+    "Place hands on the roller with smooth and shiny texture and lift.",
+    "Pick up the light brown roller using both arms equally",
+    "Lift the solid wood roller with your arms.",
+    "Get hold of the cylindrical roller with tapered ends using your arms",
+    "Pick up the medium roller with narrower tips using both arms.",
+    "Lift the wooden rolling tool off the table with arms.",
+    "Lift the light brown wooden roller from the table.",
+    "Reach out to grab the wood roller from the table",
+    "Hold the light brown wooden roller on the table with hands.",
+    "Reach for the wood roller and grab it firmly.",
+    "Use both arms to grab the wooden rolling tool.",
+    "Firmly grip the wooden rolling tool on the table now.",
+    "Pick up the palm-length roller from the table directly.",
+    "Reach for the medium-sized roller and hold it firmly",
+    "Secure the palm-length roller with both arms.",
+    "Hold the medium roller with narrower tips firmly from the table.",
+    "Lift the palm-length roller off the table with both arms",
+    "Take both arms to grasp the palm-length roller.",
+    "Grab the solid wood roller directly from the table.",
+    "Grab the medium roller with narrower tips placed on the table.",
+    "Secure the roller for smoothing materials from the table using arms",
+    "Lift the roller with polished surface from its place on the table",
+    "Take hold of the solid wood roller with both arms.",
+    "Pick up the solid wood roller from the table.",
+    "Secure the wood roller using your arms.",
+    "Use arms to firmly grab the medium roller with narrower tips.",
+    "Grasp the wooden rolling tool firmly with arms.",
+    "Grasp the cylindrical roller with tapered ends on the table with arms.",
+    "Grasp the roller with polished surface on the table.",
+    "Hold the roller for smoothing materials from the table.",
+    "Securely grab the palm-length roller using both arms.",
+    "Firmly grab the solid wood roller using arms.",
+    "Use both arms to grip the medium roller with narrower tips tightly.",
+    "Secure the medium roller with narrower tips on the table using arms.",
+    "Use arms to hold the wooden rolling tool tightly.",
+    "Lift the roller for smoothing materials from the table carefully.",
+    "Both arms should grab the roller for smoothing materials now.",
+    "Take hold of the light brown wooden roller with arms.",
+    "Hold the roller with polished surface with both arms to pick it up",
+    "Take hold of the light brown wooden roller.",
+    "Take hold of the palm-length roller using your arms.",
+    "Take the wood roller directly from the table.",
+    "Bring both arms to grab the wood roller.",
+    "Grasp the roller for smoothing materials firmly from the table.",
+    "Grip the roller for smoothing materials firmly with arms.",
+    "Place hands on the roller with smooth and shiny texture and lift.",
+    "Pick up the light brown roller using both arms equally",
+    "Lift the cylindrical roller with tapered ends with your arms.",
+    "Get hold of the roller for smoothing materials using your arms",
+    "Pick up the light brown roller using both arms.",
+    "Lift the cylindrical roller with tapered ends off the table with arms.",
+    "Lift the light brown roller from the table.",
+    "Reach out to grab the roller for smoothing materials from the table",
+    "Hold the cylindrical roller with tapered ends on the table with hands.",
+    "Reach for the wood roller and grab it firmly.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Firmly grip the light brown wooden roller on the table now.",
+    "Pick up the roller with smooth and shiny texture from the table directly.",
+    "Reach for the solid wood roller and hold it firmly",
+    "Secure the roller with polished surface with both arms.",
+    "Hold the roller with polished surface firmly from the table.",
+    "Lift the solid wood roller off the table with both arms",
+    "Take both arms to grasp the light brown roller.",
+    "Grab the light brown roller directly from the table.",
+    "Grab the palm-length roller placed on the table.",
+    "Secure the light brown roller from the table using arms",
+    "Lift the roller with polished surface from its place on the table",
+    "Take hold of the wooden rolling tool with both arms.",
+    "Pick up the roller with polished surface from the table.",
+    "Secure the light brown wooden roller using your arms.",
+    "Use arms to firmly grab the cylindrical roller with tapered ends.",
+    "Grasp the roller with smooth and shiny texture firmly with arms.",
+    "Grasp the wooden rolling tool on the table with arms.",
+    "Grasp the roller for smoothing materials on the table.",
+    "Hold the light brown roller from the table.",
+    "Securely grab the wooden rolling tool using both arms.",
+    "Firmly grab the solid wood roller using arms.",
+    "Use both arms to grip the medium roller with narrower tips tightly.",
+    "Secure the light brown roller on the table using arms.",
+    "Use arms to hold the cylindrical roller with tapered ends tightly.",
+    "Lift the roller with smooth and shiny texture from the table carefully.",
+    "Both arms should grab the wooden rolling tool now.",
+    "Take hold of the roller with smooth and shiny texture with arms.",
+    "Hold the light brown roller with both arms to pick it up",
+    "Take hold of the roller with polished surface.",
+    "Take hold of the medium-sized roller using your arms.",
+    "Take the light brown roller directly from the table.",
+    "Bring both arms to grab the palm-length roller.",
+    "Grasp the roller with polished surface firmly from the table.",
+    "Grip the roller with polished surface firmly with arms.",
+    "Place hands on the roller for smoothing materials and lift.",
+    "Pick up the light brown wooden roller using both arms equally",
+    "Lift the roller with polished surface with your arms."
+  ]
+}
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