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diff --git a/open_microwave/episode_0000002/TCP_head/metadata.json b/open_microwave/episode_0000002/TCP_head/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    465,
+    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/open_microwave/episode_0000002/TCP_third/metadata.json b/open_microwave/episode_0000002/TCP_third/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    465,
+    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/open_microwave/episode_0000002/metadata.json b/open_microwave/episode_0000002/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "open_microwave",
+  "episode": "episode_0000002",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/open_microwave/aloha_agilex/data/episode_0000002.hdf5",
+  "num_frames": 465,
+  "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": [
+      465,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      465,
+      14
+    ],
+    "action_shape": [
+      465,
+      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": [
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism.",
+    "Pull the gray microwave's handle to open it.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Grab the handle and open the medium microwave.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Use the handle to open the gray microwave.",
+    "Get the microwave with knobs open.",
+    "Pull to open the microwave with textured top panel.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Open the medium microwave by pulling with the left arm.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Pull and open the gray microwave.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Access the inside by opening the microwave.",
+    "Pull the microwave with textured top panel's handle using the left arm.",
+    "Pull the handle to open the countertop microwave.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Engage the gray microwave's handle and open it.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Open the microwave by grasping its handle.",
+    "Use the left arm to pull the medium microwave open.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Open the rectangular microwave by pulling on its handle.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the microwave with knobs.",
+    "Handle the microwave and open it with the left arm.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Pull open the door of the microwave using the left arm.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Grab the handle and open the rectangular microwave.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Get the medium microwave open.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Pull and open the yellow-sided microwave.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Pull the microwave with patterned top and knobs's handle using the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Engage the yellow-sided microwave's handle and open it.",
+    "Open the gray microwave using the left arm.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Use the left arm to open the microwave by pulling.",
+    "Engage the medium microwave using the left arm to open.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Open the medium microwave by pulling on its handle.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Activate the door to open the countertop microwave.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Pull the door to open the microwave.",
+    "Grab the handle and open the microwave.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Get the medium microwave open.",
+    "Pull to open the microwave.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Open the microwave by pulling with the left arm.",
+    "Utilize the left arm to pull the countertop microwave open."
+  ]
+}
diff --git a/open_microwave/episode_0000016/TCP_head/metadata.json b/open_microwave/episode_0000016/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdecbd8fcb26d6a270f8a73102930db86a2e1d9d
--- /dev/null
+++ b/open_microwave/episode_0000016/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    463,
+    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/open_microwave/episode_0000016/metadata.json b/open_microwave/episode_0000016/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c8f6adc402959d7675fe8b02cdb69c65b47edf4
--- /dev/null
+++ b/open_microwave/episode_0000016/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "open_microwave",
+  "episode": "episode_0000016",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/open_microwave/aloha_agilex/data/episode_0000016.hdf5",
+  "num_frames": 463,
+  "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": [
+      463,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      463,
+      14
+    ],
+    "action_shape": [
+      463,
+      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": [
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Pull the countertop microwave's handle using the left arm.",
+    "Use the left arm to grab and pull the yellow-sided microwave.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Get the gray microwave with two control knobs open.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Open the microwave with patterned top and knobs using the left arm.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Use the left arm to pull the gray microwave open.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the gray microwave.",
+    "Pull the door to open the medium microwave.",
+    "Pull and open the microwave.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Open the gray microwave by pulling its handle.",
+    "Pull to open the microwave with knobs.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Use the handle to open the medium microwave.",
+    "Open the microwave by pulling on its handle.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull the handle to open the microwave.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Access the inside by opening the gray microwave.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Open the gray microwave by pulling its handle.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Pull the microwave with patterned top and knobs's handle using the left arm.",
+    "Use the left arm to grab and pull the microwave.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the microwave.",
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Pull and open the medium microwave.",
+    "Pull the door of the medium microwave to open it.",
+    "Open the microwave by pulling its handle.",
+    "Pull to open the countertop microwave.",
+    "Engage the yellow-sided microwave's handle and open it.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Open the medium microwave by pulling on its handle.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the handle to open the gray microwave.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the countertop microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Open the countertop microwave by pulling its handle.",
+    "Engage the medium microwave using the left arm to open.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges with the left arm.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Pull the medium microwave's handle using the left arm.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Get the microwave open.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Open the microwave using the left arm.",
+    "Grab and pull the medium microwave using the left arm.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull the door to open the medium microwave.",
+    "Pull and open the yellow-sided microwave.",
+    "Pull the door of the medium microwave to open it.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull to open the medium microwave."
+  ]
+}