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diff --git a/hanging_mug/episode_0000000/TCP_head/metadata.json b/hanging_mug/episode_0000000/TCP_head/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    355,
+    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/hanging_mug/episode_0000000/TCP_third/metadata.json b/hanging_mug/episode_0000000/TCP_third/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    355,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "hanging_mug",
+  "episode": "episode_0000000",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/hanging_mug/aloha_agilex/data/episode_0000000.hdf5",
+  "num_frames": 355,
+  "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": [
+      355,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      355,
+      14
+    ],
+    "action_shape": [
+      355,
+      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 your left arm to grab the black mug with smooth surface, rotate it, place it in the middle, then use the right arm to hang it onto the metal rack.",
+    "Lift the mug with thick sturdy handle, twist it, set it back, and secure it onto the smooth rack.",
+    "Grab the solid black ceramic mug, turn it around, put it back, then attach it to the smooth rack.",
+    "Use the left arm to grab the black coffee mug, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack.",
+    "Pick up the cylindrical black mug, turn it, place it centrally, then hang the cylindrical black mug onto the medium rack with protruding rods.",
+    "Take the cylindrical black mug, rotate it, set it on the table's center, then hang it onto the dark gray angled rack.",
+    "Use the left arm to pick the black mug for liquids, turn it, place it, then hang on the metallic angular rack with rod pair.",
+    "Grab the drinking mug from the table, rotate it, place it, and hang it onto the rack with two rods sticking out.",
+    "Use one arm to grab the black mug with handle, turn it, set it centrally, and use the other to hang it onto the rack with angular body.",
+    "Pick the black mug with handle from the table, rotate it, place it, and then hang it onto the rack with angular body.",
+    "Pick the black mug for liquids, turn it, put it in the center, and transfer it to the smooth dark gray rack.",
+    "Use the right arm to lift the drinking mug, rotate it, and attach it to the medium rack with protruding rods after setting it down.",
+    "Grab the solid black ceramic mug, rotate it, place it on the table, and hook it onto the metal rack.",
+    "Use your left arm to grab the hand-sized black mug, rotate it, set it down, then hang on the dark gray rack.",
+    "Take the mug with thick sturdy handle, rotate it, place it back on the table, and hang it on the angled rack with long and short rods afterward.",
+    "Use your left arm to pick the mug with thick sturdy handle, rotate it, set it down, and hang it onto the smooth rack.",
+    "With the left arm, grab the solid black ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth dark gray rack.",
+    "Pick the mug with thick sturdy handle using your left arm, turn it, set it on the table, and hang it on the angled rack with long and short rods with the right arm.",
+    "Grab the cylindrical black mug, rotate it, place it in the middle, and hang it on the angular rack with slanted support rod.",
+    "Use the left arm to grab the mug with thick sturdy handle, rotate it, set it down, then hang the mug with thick sturdy handle onto the angular rack with slanted support rod.",
+    "With the left arm, grab the solid black ceramic mug, spin it, place it down, then use the right arm to hang it on the angled rack with long and short rods.",
+    "Lift the solid black ceramic mug, turn it around, set it in the middle, and place it on the metal rack.",
+    "Lift the black mug, rotate it, put it down in the table's center, then hang it onto the angular rack with slanted support rod.",
+    "Lift the hand-sized black mug, give it a turn, and hang it onto the smooth dark gray rack.",
+    "Use the left arm to grab the smooth black ceramic mug, rotate it, place it down, and hang it onto the metallic rack with smooth finish with the right arm.",
+    "Grab the black mug with handle, rotate it, place it in the middle, and hang it onto the medium rack with protruding rods.",
+    "Take the hand-sized black mug from the table, spin it, place it in the center, then hang it on the angular rack with slanted support rod.",
+    "Take the black coffee mug, rotate it, set it in the middle, then hang it on the dark gray angled rack.",
+    "With the left arm, pick the hand-sized black mug, rotate it, place it, then hang it onto the metal rack.",
+    "Lift the mug with rounded handle from the table, rotate it, place it in the middle, and hang it on the metallic rack with smooth finish.",
+    "Take the hand-sized black mug with one arm, rotate it, and hang it onto the rack with angular body.",
+    "Take the smooth black ceramic mug from the table, rotate it, place it in the center, then hang it onto the angular rack with slanted support rod.",
+    "Take the drinking mug from the table, turn it, set it down, and attach it to the rack with angular body.",
+    "Use the left arm to lift the black mug for liquids, rotate it, put it down, then hook onto the angled rack with long and short rods.",
+    "Pick the drinking mug from the table using one hand, rotate, and hang it on the rack with two rods sticking out.",
+    "Pick the mug with rounded handle up, twist it, place it back, then hang it onto the medium rack with protruding rods.",
+    "Use the left arm to grab the drinking mug, flip it, set it down, and then attach it to the dark gray angled rack.",
+    "Using the left arm, pick the cylindrical black mug, turn it, place it down, and hang it on the medium rack with protruding rods.",
+    "Lift the drinking mug from the table, turn it, put it down in the middle, then hang it onto the metal rack.",
+    "Lift the black mug with handle, turn it, place it back, and move it onto the dark gray rack with the right arm.",
+    "Take the black mug with handle, rotate it, place it in the center, then hang it on the angular rack with slanted support rod.",
+    "Using your left arm, lift the black mug with smooth surface, rotate it, place it down, then your right arm to hang it onto the smooth rack.",
+    "Use your left arm to grab the smooth black ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the angled rack with long and short rods.",
+    "Lift the drinking mug, twist it, set it back, and secure it onto the metallic angular rack with rod pair.",
+    "Grab the smooth black ceramic mug, turn it around, put it back, then attach it to the angled rack with long and short rods.",
+    "Use the left arm to grab the drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the medium rack with protruding rods.",
+    "Pick up the cylindrical black mug, turn it, place it centrally, then hang the cylindrical black mug onto the smooth dark gray rack.",
+    "Take the smooth black ceramic mug, rotate it, set it on the table's center, then hang it onto the angled rack with long and short rods.",
+    "Use the left arm to pick the black mug, turn it, place it, then hang on the dark gray angled rack.",
+    "Grab the black mug for liquids from the table, rotate it, place it, and hang it onto the rack with angular body.",
+    "Use one arm to grab the black coffee mug, turn it, set it centrally, and use the other to hang it onto the rack with angular body.",
+    "Pick the drinking mug from the table, rotate it, place it, and then hang it onto the metallic angular rack with rod pair.",
+    "Pick the black mug for liquids, turn it, put it in the center, and transfer it to the dark gray rack.",
+    "Use the right arm to lift the hand-sized black mug, rotate it, and attach it to the metal rack after setting it down.",
+    "Grab the black mug, rotate it, place it on the table, and hook it onto the dark gray angled rack.",
+    "Use your left arm to grab the hand-sized black mug, rotate it, set it down, then hang on the dark gray angled rack.",
+    "Take the solid black ceramic mug, rotate it, place it back on the table, and hang it on the smooth dark gray rack afterward.",
+    "Use your left arm to pick the drinking mug, rotate it, set it down, and hang it onto the smooth rack.",
+    "With the left arm, grab the solid black ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the rack with angular body.",
+    "Pick the black mug with handle using your left arm, turn it, set it on the table, and hang it on the dark gray rack with the right arm.",
+    "Grab the black mug with smooth surface, rotate it, place it in the middle, and hang it on the dark gray angled rack.",
+    "Use the left arm to grab the black coffee mug, rotate it, set it down, then hang the black coffee mug onto the rack with two rods sticking out.",
+    "With the left arm, grab the smooth black ceramic mug, spin it, place it down, then use the right arm to hang it on the medium rack with protruding rods.",
+    "Lift the black mug, turn it around, set it in the middle, and place it on the rack with two rods sticking out.",
+    "Lift the black mug, rotate it, put it down in the table's center, then hang it onto the dark gray angled rack.",
+    "Lift the black mug for liquids, give it a turn, and hang it onto the angular rack with slanted support rod.",
+    "Use the left arm to grab the black coffee mug, rotate it, place it down, and hang it onto the angular rack with slanted support rod with the right arm.",
+    "Grab the smooth black ceramic mug, rotate it, place it in the middle, and hang it onto the smooth rack.",
+    "Take the black mug with smooth surface from the table, spin it, place it in the center, then hang it on the angular rack with slanted support rod.",
+    "Take the black mug with handle, rotate it, set it in the middle, then hang it on the dark gray rack.",
+    "With the left arm, pick the black mug with handle, rotate it, place it, then hang it onto the rack with angular body.",
+    "Lift the smooth black ceramic mug from the table, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.",
+    "Take the black mug with one arm, rotate it, and hang it onto the dark gray angled rack.",
+    "Take the smooth black ceramic mug from the table, rotate it, place it in the center, then hang it onto the dark gray rack.",
+    "Take the mug with rounded handle from the table, turn it, set it down, and attach it to the dark gray angled rack.",
+    "Use the left arm to lift the solid black ceramic mug, rotate it, put it down, then hook onto the dark gray angled rack.",
+    "Pick the smooth black ceramic mug from the table using one hand, rotate, and hang it on the medium rack with protruding rods.",
+    "Pick the black mug with smooth surface up, twist it, place it back, then hang it onto the dark gray angled rack.",
+    "Use the left arm to grab the smooth black ceramic mug, flip it, set it down, and then attach it to the medium rack with protruding rods.",
+    "Using the left arm, pick the cylindrical black mug, turn it, place it down, and hang it on the rack with two rods sticking out.",
+    "Lift the drinking mug from the table, turn it, put it down in the middle, then hang it onto the rack with two rods sticking out.",
+    "Lift the black mug, turn it, place it back, and move it onto the smooth dark gray rack with the right arm.",
+    "Take the black mug for liquids, rotate it, place it in the center, then hang it on the rack with two rods sticking out.",
+    "Using your left arm, lift the black mug with smooth surface, rotate it, place it down, then your right arm to hang it onto the rack with two rods sticking out.",
+    "Use your left arm to grab the drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the angled rack with long and short rods.",
+    "Lift the cylindrical black mug, twist it, set it back, and secure it onto the smooth rack.",
+    "Grab the solid black ceramic mug, turn it around, put it back, then attach it to the rack with two rods sticking out.",
+    "Use the left arm to grab the black mug, rotate it, place it in the middle, then use the right arm to hang it onto the medium rack with protruding rods.",
+    "Pick up the cylindrical black mug, turn it, place it centrally, then hang the cylindrical black mug onto the rack with angular body.",
+    "Take the cylindrical black mug, rotate it, set it on the table's center, then hang it onto the angular rack with slanted support rod.",
+    "Use the left arm to pick the drinking mug, turn it, place it, then hang on the metal rack.",
+    "Grab the black mug with handle from the table, rotate it, place it, and hang it onto the smooth rack.",
+    "Use one arm to grab the mug with rounded handle, turn it, set it centrally, and use the other to hang it onto the dark gray angled rack.",
+    "Pick the mug with rounded handle from the table, rotate it, place it, and then hang it onto the dark gray rack.",
+    "Pick the smooth black ceramic mug, turn it, put it in the center, and transfer it to the rack with angular body.",
+    "Use the right arm to lift the solid black ceramic mug, rotate it, and attach it to the angled rack with long and short rods after setting it down.",
+    "Grab the black mug, rotate it, place it on the table, and hook it onto the rack with two rods sticking out.",
+    "Use your left arm to grab the smooth black ceramic mug, rotate it, set it down, then hang on the metal rack.",
+    "Take the black mug, rotate it, place it back on the table, and hang it on the metallic angular rack with rod pair afterward.",
+    "Use your left arm to pick the drinking mug, rotate it, set it down, and hang it onto the metallic rack with smooth finish."
+  ]
+}
diff --git a/hanging_mug/episode_0000033/TCP_head/metadata.json b/hanging_mug/episode_0000033/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb2b7dbbdc6f54fc14f3aa4e52469e49017283d2
--- /dev/null
+++ b/hanging_mug/episode_0000033/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    359,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/hanging_mug/episode_0000033/TCP_third/metadata.json b/hanging_mug/episode_0000033/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e76a999f89af9372a327cbf860a7ebf2eb5acf6
--- /dev/null
+++ b/hanging_mug/episode_0000033/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    359,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "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/hanging_mug/episode_0000033/metadata.json b/hanging_mug/episode_0000033/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a45c7185fe06000e99ddc792fc8f6c87f4a782e0
--- /dev/null
+++ b/hanging_mug/episode_0000033/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "hanging_mug",
+  "episode": "episode_0000033",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/hanging_mug/aloha_agilex/data/episode_0000033.hdf5",
+  "num_frames": 359,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      359,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      359,
+      14
+    ],
+    "action_shape": [
+      359,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Use the left arm to grab the medium white mug with handle, rotate it, set it down, then hang the medium white mug with handle onto the metallic rack with smooth finish.",
+    "Lift the plain glossy mug, rotate it, put it down in the table's center, then hang it onto the angular rack with slanted support rod.",
+    "With the left arm, grab the ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic angular rack with rod pair.",
+    "Use the right arm to lift the cylindrical mug made of ceramic, rotate it, and attach it to the rack with angular body after setting it down.",
+    "Use the left arm to pick the smooth white mug with curved handle, turn it, place it, then hang on the metallic rack with smooth finish.",
+    "Use your left arm to pick the medium white mug with handle, rotate it, set it down, and hang it onto the dark gray rack.",
+    "Pick the plain glossy mug from the table using one hand, rotate, and hang it on the metallic rack with smooth finish.",
+    "Take the cylindrical mug made of ceramic, rotate it, place it back on the table, and hang it on the metal rack afterward.",
+    "Lift the cylindrical mug made of ceramic from the table, rotate it, place it in the middle, and hang it on the dark gray angled rack.",
+    "With the left arm, grab the glossy mug for beverages, spin it, place it down, then use the right arm to hang it on the medium rack with protruding rods.",
+    "Use your left arm to grab the smooth and plain drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray angled rack.",
+    "Take the medium white mug with handle with one arm, rotate it, and hang it onto the metallic rack with smooth finish.",
+    "Pick the hand-sized ceramic mug, turn it, put it in the center, and transfer it to the angular rack with slanted support rod.",
+    "Pick the basic mug in solid white up, twist it, place it back, then hang it onto the metallic angular rack with rod pair.",
+    "Lift the cylindrical mug made of ceramic, give it a turn, and hang it onto the rack with two rods sticking out.",
+    "Take the basic mug in solid white, rotate it, set it in the middle, then hang it on the angular rack with slanted support rod.",
+    "Grab the medium-sized white mug, rotate it, place it in the middle, and hang it on the dark gray angled rack.",
+    "Lift the ceramic mug, twist it, set it back, and secure it onto the medium rack with protruding rods.",
+    "Use the left arm to grab the medium-sized white mug, flip it, set it down, and then attach it to the rack with two rods sticking out.",
+    "Using the left arm, pick the medium-sized white mug, turn it, place it down, and hang it on the rack with angular body.",
+    "Pick up the smooth white mug with curved handle, turn it, place it centrally, then hang the smooth white mug with curved handle onto the metal rack.",
+    "Lift the smooth white mug with curved handle from the table, turn it, put it down in the middle, then hang it onto the metal rack.",
+    "Use the left arm to grab the plain glossy mug, rotate it, place it in the middle, then use the right arm to hang it onto the angled rack with long and short rods.",
+    "Take the glossy mug for beverages from the table, spin it, place it in the center, then hang it on the medium rack with protruding rods.",
+    "Take the medium white mug with handle from the table, rotate it, place it in the center, then hang it onto the angular rack with slanted support rod.",
+    "Pick the ceramic mug from the table, rotate it, place it, and then hang it onto the dark gray angled rack.",
+    "Use one arm to grab the glossy mug for beverages, turn it, set it centrally, and use the other to hang it onto the metallic angular rack with rod pair.",
+    "Pick the smooth and plain drinking mug using your left arm, turn it, set it on the table, and hang it on the angled rack with long and short rods with the right arm.",
+    "Grab the hand-sized ceramic mug, rotate it, place it in the middle, and hang it onto the dark gray angled rack.",
+    "Take the ceramic mug, rotate it, place it in the center, then hang it on the smooth dark gray rack.",
+    "Lift the plain glossy mug, turn it, place it back, and move it onto the metallic angular rack with rod pair with the right arm.",
+    "Grab the white mug with rounded handle, turn it around, put it back, then attach it to the dark gray rack.",
+    "Take the glossy mug for beverages, rotate it, set it on the table's center, then hang it onto the metal rack.",
+    "Use the left arm to grab the medium-sized white mug, rotate it, place it down, and hang it onto the smooth rack with the right arm.",
+    "With the left arm, pick the white mug, rotate it, place it, then hang it onto the metal rack.",
+    "Using your left arm, lift the white mug with rounded handle, rotate it, place it down, then your right arm to hang it onto the smooth rack.",
+    "Use the left arm to lift the medium-sized white mug, rotate it, put it down, then hook onto the medium rack with protruding rods.",
+    "Grab the glossy mug for beverages, rotate it, place it on the table, and hook it onto the metal rack.",
+    "Take the ceramic mug from the table, turn it, set it down, and attach it to the medium rack with protruding rods.",
+    "Grab the smooth white mug with curved handle from the table, rotate it, place it, and hang it onto the angular rack with slanted support rod.",
+    "Lift the smooth white mug with curved handle, turn it around, set it in the middle, and place it on the rack with two rods sticking out.",
+    "Use your left arm to grab the white mug, rotate it, set it down, then hang on the angular rack with slanted support rod.",
+    "Use the left arm to grab the smooth white mug with curved handle, rotate it, set it down, then hang the smooth white mug with curved handle onto the angled rack with long and short rods.",
+    "Lift the white mug with rounded handle, rotate it, put it down in the table's center, then hang it onto the medium rack with protruding rods.",
+    "With the left arm, grab the cylindrical mug made of ceramic from the table, rotate it, place it centrally, and with the right arm, hang it onto the angled rack with long and short rods.",
+    "Use the right arm to lift the cylindrical mug made of ceramic, rotate it, and attach it to the smooth dark gray rack after setting it down.",
+    "Use the left arm to pick the hand-sized ceramic mug, turn it, place it, then hang on the rack with angular body.",
+    "Use your left arm to pick the hand-sized ceramic mug, rotate it, set it down, and hang it onto the medium rack with protruding rods.",
+    "Pick the white mug from the table using one hand, rotate, and hang it on the angled rack with long and short rods.",
+    "Take the medium white mug with handle, rotate it, place it back on the table, and hang it on the dark gray rack afterward.",
+    "Lift the smooth and plain drinking mug from the table, rotate it, place it in the middle, and hang it on the dark gray rack.",
+    "With the left arm, grab the smooth white mug with curved handle, spin it, place it down, then use the right arm to hang it on the medium rack with protruding rods.",
+    "Use your left arm to grab the glossy mug for beverages, rotate it, place it in the middle, then use the right arm to hang it onto the smooth rack.",
+    "Take the plain glossy mug with one arm, rotate it, and hang it onto the rack with angular body.",
+    "Pick the cylindrical mug made of ceramic, turn it, put it in the center, and transfer it to the smooth rack.",
+    "Pick the white mug up, twist it, place it back, then hang it onto the metallic angular rack with rod pair.",
+    "Lift the basic mug in solid white, give it a turn, and hang it onto the smooth dark gray rack.",
+    "Take the smooth white mug with curved handle, rotate it, set it in the middle, then hang it on the metallic angular rack with rod pair.",
+    "Grab the smooth white mug with curved handle, rotate it, place it in the middle, and hang it on the dark gray rack.",
+    "Lift the medium white mug with handle, twist it, set it back, and secure it onto the metal rack.",
+    "Use the left arm to grab the plain glossy mug, flip it, set it down, and then attach it to the rack with angular body.",
+    "Using the left arm, pick the medium white mug with handle, turn it, place it down, and hang it on the rack with angular body.",
+    "Pick up the white mug, turn it, place it centrally, then hang the white mug onto the dark gray angled rack.",
+    "Lift the smooth and plain drinking mug from the table, turn it, put it down in the middle, then hang it onto the smooth dark gray rack.",
+    "Use the left arm to grab the basic mug in solid white, rotate it, place it in the middle, then use the right arm to hang it onto the smooth dark gray rack.",
+    "Take the cylindrical mug made of ceramic from the table, spin it, place it in the center, then hang it on the medium rack with protruding rods.",
+    "Take the medium-sized white mug from the table, rotate it, place it in the center, then hang it onto the metallic angular rack with rod pair.",
+    "Pick the basic mug in solid white from the table, rotate it, place it, and then hang it onto the metal rack.",
+    "Use one arm to grab the smooth and plain drinking mug, turn it, set it centrally, and use the other to hang it onto the smooth dark gray rack.",
+    "Pick the white mug using your left arm, turn it, set it on the table, and hang it on the smooth dark gray rack with the right arm.",
+    "Grab the medium white mug with handle, rotate it, place it in the middle, and hang it onto the medium rack with protruding rods.",
+    "Take the hand-sized ceramic mug, rotate it, place it in the center, then hang it on the rack with angular body.",
+    "Lift the medium-sized white mug, turn it, place it back, and move it onto the smooth rack with the right arm.",
+    "Grab the medium white mug with handle, turn it around, put it back, then attach it to the smooth rack.",
+    "Take the glossy mug for beverages, rotate it, set it on the table's center, then hang it onto the metallic angular rack with rod pair.",
+    "Use the left arm to grab the medium-sized white mug, rotate it, place it down, and hang it onto the angular rack with slanted support rod with the right arm.",
+    "With the left arm, pick the white mug, rotate it, place it, then hang it onto the rack with angular body.",
+    "Using your left arm, lift the medium white mug with handle, rotate it, place it down, then your right arm to hang it onto the metallic rack with smooth finish.",
+    "Use the left arm to lift the ceramic mug, rotate it, put it down, then hook onto the rack with two rods sticking out.",
+    "Grab the medium white mug with handle, rotate it, place it on the table, and hook it onto the angled rack with long and short rods.",
+    "Take the glossy mug for beverages from the table, turn it, set it down, and attach it to the angled rack with long and short rods.",
+    "Grab the basic mug in solid white from the table, rotate it, place it, and hang it onto the metal rack.",
+    "Lift the white mug, turn it around, set it in the middle, and place it on the smooth dark gray rack.",
+    "Use your left arm to grab the smooth and plain drinking mug, rotate it, set it down, then hang on the medium rack with protruding rods.",
+    "Use the left arm to grab the medium white mug with handle, rotate it, set it down, then hang the medium white mug with handle onto the metal rack.",
+    "Lift the cylindrical mug made of ceramic, rotate it, put it down in the table's center, then hang it onto the angled rack with long and short rods.",
+    "With the left arm, grab the white mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the rack with two rods sticking out.",
+    "Use the right arm to lift the glossy mug for beverages, rotate it, and attach it to the metallic rack with smooth finish after setting it down.",
+    "Use the left arm to pick the glossy mug for beverages, turn it, place it, then hang on the rack with angular body.",
+    "Use your left arm to pick the ceramic mug, rotate it, set it down, and hang it onto the metallic angular rack with rod pair.",
+    "Pick the smooth white mug with curved handle from the table using one hand, rotate, and hang it on the medium rack with protruding rods.",
+    "Take the plain glossy mug, rotate it, place it back on the table, and hang it on the rack with two rods sticking out afterward.",
+    "Lift the glossy mug for beverages from the table, rotate it, place it in the middle, and hang it on the medium rack with protruding rods.",
+    "With the left arm, grab the basic mug in solid white, spin it, place it down, then use the right arm to hang it on the angular rack with slanted support rod.",
+    "Use your left arm to grab the ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with angular body.",
+    "Take the medium white mug with handle with one arm, rotate it, and hang it onto the rack with angular body.",
+    "Pick the smooth white mug with curved handle, turn it, put it in the center, and transfer it to the smooth rack.",
+    "Pick the hand-sized ceramic mug up, twist it, place it back, then hang it onto the metallic rack with smooth finish.",
+    "Lift the hand-sized ceramic mug, give it a turn, and hang it onto the rack with two rods sticking out.",
+    "Take the smooth and plain drinking mug, rotate it, set it in the middle, then hang it on the rack with two rods sticking out."
+  ]
+}
diff --git a/hanging_mug/episode_0000040/TCP_head/metadata.json b/hanging_mug/episode_0000040/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..69a74753ae5906c974c2134727316d7a9f787065
--- /dev/null
+++ b/hanging_mug/episode_0000040/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    351,
+    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/hanging_mug/episode_0000040/TCP_third/metadata.json b/hanging_mug/episode_0000040/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..541f63515bf162174fab3f67aab4f4f62d3f1872
--- /dev/null
+++ b/hanging_mug/episode_0000040/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    351,
+    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/hanging_mug/episode_0000040/metadata.json b/hanging_mug/episode_0000040/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..44213c6d5ac1ed1ebd3c6d3e62fefe0a04460311
--- /dev/null
+++ b/hanging_mug/episode_0000040/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "hanging_mug",
+  "episode": "episode_0000040",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/hanging_mug/aloha_agilex/data/episode_0000040.hdf5",
+  "num_frames": 351,
+  "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": [
+      351,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      351,
+      14
+    ],
+    "action_shape": [
+      351,
+      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 pick the mug with yellow chicken image, turn it, place it, then hang on the smooth rack.",
+    "Pick up the smooth ceramic mug, turn it, place it centrally, then hang the smooth ceramic mug onto the angled rack with long and short rods.",
+    "Use the left arm to grab the mug with prints, rotate it, place it down, and hang it onto the metallic angular rack with rod pair with the right arm.",
+    "Grab the mug with cartoon design, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair.",
+    "With the left arm, grab the mug with yellow chicken image from the table, rotate it, place it centrally, and with the right arm, hang it onto the angular rack with slanted support rod.",
+    "Lift the curved handle mug from the table, turn it, put it down in the middle, then hang it onto the dark gray angled rack.",
+    "Use the left arm to grab the curved handle mug, flip it, set it down, and then attach it to the rack with two rods sticking out.",
+    "Grab the beige mug, rotate it, place it in the middle, and hang it onto the metal rack.",
+    "Pick the smooth ceramic mug, turn it, put it in the center, and transfer it to the angled rack with long and short rods.",
+    "With the left arm, grab the curved handle mug, spin it, place it down, then use the right arm to hang it on the smooth rack.",
+    "Lift the medium mug fits in hand, turn it around, set it in the middle, and place it on the medium rack with protruding rods.",
+    "Use the right arm to lift the mug for hot drinks, rotate it, and attach it to the rack with angular body after setting it down.",
+    "Pick the smooth ceramic mug from the table, rotate it, place it, and then hang it onto the angled rack with long and short rods.",
+    "Take the beige mug, rotate it, place it in the center, then hang it on the angled rack with long and short rods.",
+    "Take the colorful cartoon mug with one arm, rotate it, and hang it onto the metal rack.",
+    "Using the left arm, pick the mug with glossy texture, turn it, place it down, and hang it on the metallic rack with smooth finish.",
+    "With the left arm, pick the ceramic mug with cartoons, rotate it, place it, then hang it onto the dark gray rack.",
+    "Grab the medium light mug from the table, rotate it, place it, and hang it onto the dark gray angled rack.",
+    "Take the colorful cartoon mug from the table, rotate it, place it in the center, then hang it onto the metallic angular rack with rod pair.",
+    "Pick the colorful cartoon mug from the table using one hand, rotate, and hang it on the angular rack with slanted support rod.",
+    "Take the mug for hot drinks, rotate it, set it in the middle, then hang it on the rack with angular body.",
+    "Lift the mug with prints, twist it, set it back, and secure it onto the rack with angular body.",
+    "Take the mug with glossy texture, rotate it, place it back on the table, and hang it on the smooth rack afterward.",
+    "Use the left arm to grab the medium mug fits in hand, rotate it, set it down, then hang the medium mug fits in hand onto the smooth dark gray rack.",
+    "Pick the mug with yellow chicken image up, twist it, place it back, then hang it onto the metal rack.",
+    "Use your left arm to grab the mug for hot drinks, rotate it, place it in the middle, then use the right arm to hang it onto the metallic angular rack with rod pair.",
+    "Use your left arm to pick the colorful cartoon mug, rotate it, set it down, and hang it onto the dark gray rack.",
+    "Use your left arm to grab the curved handle mug, rotate it, set it down, then hang on the rack with angular body.",
+    "Use the left arm to grab the mug with yellow chicken image, rotate it, place it in the middle, then use the right arm to hang it onto the smooth dark gray rack.",
+    "Lift the ceramic mug with cartoons from the table, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair.",
+    "Grab the medium mug fits in hand, turn it around, put it back, then attach it to the angular rack with slanted support rod.",
+    "Lift the medium mug fits in hand, turn it, place it back, and move it onto the metallic rack with smooth finish with the right arm.",
+    "Lift the smooth ceramic mug, rotate it, put it down in the table's center, then hang it onto the angular rack with slanted support rod.",
+    "Use one arm to grab the medium light mug, turn it, set it centrally, and use the other to hang it onto the metallic rack with smooth finish.",
+    "Lift the mug with cartoon design, give it a turn, and hang it onto the angled rack with long and short rods.",
+    "Pick the beige mug using your left arm, turn it, set it on the table, and hang it on the rack with two rods sticking out with the right arm.",
+    "Take the mug with glossy texture from the table, turn it, set it down, and attach it to the smooth dark gray rack.",
+    "Take the mug with glossy texture, rotate it, set it on the table's center, then hang it onto the medium rack with protruding rods.",
+    "Using your left arm, lift the mug for hot drinks, rotate it, place it down, then your right arm to hang it onto the metal rack.",
+    "Use the left arm to lift the beige mug, rotate it, put it down, then hook onto the medium rack with protruding rods.",
+    "Take the beige mug from the table, spin it, place it in the center, then hang it on the dark gray angled rack.",
+    "Grab the mug with glossy texture, rotate it, place it on the table, and hook it onto the metal rack.",
+    "Use the left arm to pick the ceramic mug with cartoons, turn it, place it, then hang on the medium rack with protruding rods.",
+    "Pick up the mug with yellow chicken image, turn it, place it centrally, then hang the mug with yellow chicken image onto the dark gray angled rack.",
+    "Use the left arm to grab the beige mug, rotate it, place it down, and hang it onto the medium rack with protruding rods with the right arm.",
+    "Grab the medium light mug, rotate it, place it in the middle, and hang it on the smooth rack.",
+    "With the left arm, grab the colorful cartoon mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic angular rack with rod pair.",
+    "Lift the beige mug from the table, turn it, put it down in the middle, then hang it onto the angular rack with slanted support rod.",
+    "Use the left arm to grab the smooth ceramic mug, flip it, set it down, and then attach it to the metallic angular rack with rod pair.",
+    "Grab the smooth ceramic mug, rotate it, place it in the middle, and hang it onto the medium rack with protruding rods.",
+    "Pick the colorful cartoon mug, turn it, put it in the center, and transfer it to the smooth dark gray rack.",
+    "With the left arm, grab the medium mug fits in hand, spin it, place it down, then use the right arm to hang it on the angular rack with slanted support rod.",
+    "Lift the beige mug, turn it around, set it in the middle, and place it on the angular rack with slanted support rod.",
+    "Use the right arm to lift the mug with cartoon design, rotate it, and attach it to the angled rack with long and short rods after setting it down.",
+    "Pick the smooth ceramic mug from the table, rotate it, place it, and then hang it onto the medium rack with protruding rods.",
+    "Take the curved handle mug, rotate it, place it in the center, then hang it on the metallic rack with smooth finish.",
+    "Take the mug with yellow chicken image with one arm, rotate it, and hang it onto the angled rack with long and short rods.",
+    "Using the left arm, pick the mug with glossy texture, turn it, place it down, and hang it on the smooth rack.",
+    "With the left arm, pick the mug with glossy texture, rotate it, place it, then hang it onto the angular rack with slanted support rod.",
+    "Grab the smooth ceramic mug from the table, rotate it, place it, and hang it onto the metallic angular rack with rod pair.",
+    "Take the mug with glossy texture from the table, rotate it, place it in the center, then hang it onto the rack with angular body.",
+    "Pick the mug for hot drinks from the table using one hand, rotate, and hang it on the metallic rack with smooth finish.",
+    "Take the mug with yellow chicken image, rotate it, set it in the middle, then hang it on the metal rack.",
+    "Lift the beige mug, twist it, set it back, and secure it onto the medium rack with protruding rods.",
+    "Take the curved handle mug, rotate it, place it back on the table, and hang it on the smooth rack afterward.",
+    "Use the left arm to grab the mug for hot drinks, rotate it, set it down, then hang the mug for hot drinks onto the dark gray rack.",
+    "Pick the mug with glossy texture up, twist it, place it back, then hang it onto the medium rack with protruding rods.",
+    "Use your left arm to grab the medium mug fits in hand, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack.",
+    "Use your left arm to pick the mug with yellow chicken image, rotate it, set it down, and hang it onto the metallic angular rack with rod pair.",
+    "Use your left arm to grab the beige mug, rotate it, set it down, then hang on the angled rack with long and short rods.",
+    "Use the left arm to grab the medium mug fits in hand, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack.",
+    "Lift the mug with yellow chicken image from the table, rotate it, place it in the middle, and hang it on the rack with angular body.",
+    "Grab the mug with cartoon design, turn it around, put it back, then attach it to the smooth dark gray rack.",
+    "Lift the ceramic mug with cartoons, turn it, place it back, and move it onto the smooth rack with the right arm.",
+    "Lift the medium mug fits in hand, rotate it, put it down in the table's center, then hang it onto the smooth dark gray rack.",
+    "Use one arm to grab the medium mug fits in hand, turn it, set it centrally, and use the other to hang it onto the rack with angular body.",
+    "Lift the mug with yellow chicken image, give it a turn, and hang it onto the angled rack with long and short rods.",
+    "Pick the smooth ceramic mug using your left arm, turn it, set it on the table, and hang it on the dark gray rack with the right arm.",
+    "Take the colorful cartoon mug from the table, turn it, set it down, and attach it to the rack with angular body.",
+    "Take the mug with cartoon design, rotate it, set it on the table's center, then hang it onto the metallic angular rack with rod pair.",
+    "Using your left arm, lift the curved handle mug, rotate it, place it down, then your right arm to hang it onto the metallic angular rack with rod pair.",
+    "Use the left arm to lift the medium light mug, rotate it, put it down, then hook onto the metal rack.",
+    "Take the mug with cartoon design from the table, spin it, place it in the center, then hang it on the metallic angular rack with rod pair.",
+    "Grab the mug for hot drinks, rotate it, place it on the table, and hook it onto the angular rack with slanted support rod.",
+    "Use the left arm to pick the medium mug fits in hand, turn it, place it, then hang on the angled rack with long and short rods.",
+    "Pick up the curved handle mug, turn it, place it centrally, then hang the curved handle mug onto the dark gray rack.",
+    "Use the left arm to grab the mug with cartoon design, rotate it, place it down, and hang it onto the angled rack with long and short rods with the right arm.",
+    "Grab the mug with prints, rotate it, place it in the middle, and hang it on the rack with angular body.",
+    "With the left arm, grab the ceramic mug with cartoons from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth dark gray rack.",
+    "Lift the ceramic mug with cartoons from the table, turn it, put it down in the middle, then hang it onto the metal rack.",
+    "Use the left arm to grab the mug with glossy texture, flip it, set it down, and then attach it to the metallic angular rack with rod pair.",
+    "Grab the beige mug, rotate it, place it in the middle, and hang it onto the rack with angular body.",
+    "Pick the mug with prints, turn it, put it in the center, and transfer it to the rack with angular body.",
+    "With the left arm, grab the medium mug fits in hand, spin it, place it down, then use the right arm to hang it on the medium rack with protruding rods.",
+    "Lift the medium light mug, turn it around, set it in the middle, and place it on the dark gray angled rack.",
+    "Use the right arm to lift the mug with glossy texture, rotate it, and attach it to the rack with angular body after setting it down.",
+    "Pick the colorful cartoon mug from the table, rotate it, place it, and then hang it onto the metal rack.",
+    "Take the medium light mug, rotate it, place it in the center, then hang it on the smooth rack.",
+    "Take the mug for hot drinks with one arm, rotate it, and hang it onto the dark gray angled rack.",
+    "Using the left arm, pick the smooth ceramic mug, turn it, place it down, and hang it on the smooth rack."
+  ]
+}
diff --git a/hanging_mug/episode_0000043/TCP_head/metadata.json b/hanging_mug/episode_0000043/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fa57d28aaa5210fed77ad2e05958f588765865f
--- /dev/null
+++ b/hanging_mug/episode_0000043/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    394,
+    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/hanging_mug/episode_0000043/TCP_third/metadata.json b/hanging_mug/episode_0000043/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..805c2c3f59c19e62dfc0fa67e8d46641b39b9671
--- /dev/null
+++ b/hanging_mug/episode_0000043/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    394,
+    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/hanging_mug/episode_0000043/metadata.json b/hanging_mug/episode_0000043/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9023d560bc2730f24b09a2daa1cd9b1d37d5ef55
--- /dev/null
+++ b/hanging_mug/episode_0000043/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "hanging_mug",
+  "episode": "episode_0000043",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/hanging_mug/aloha_agilex/data/episode_0000043.hdf5",
+  "num_frames": 394,
+  "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": [
+      394,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      394,
+      14
+    ],
+    "action_shape": [
+      394,
+      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": [
+    "Lift the cylindrical mug with black finish from the table, rotate it, place it in the middle, and hang it on the angular rack with slanted support rod.",
+    "Lift the drinking mug shiny black exterior, give it a turn, and hang it onto the rack with angular body.",
+    "Lift the black mug with rounded sturdy handle, turn it, place it back, and move it onto the smooth dark gray rack with the right arm.",
+    "Lift the black mug glossy ceramic material, rotate it, put it down in the table's center, then hang it onto the angled rack with long and short rods.",
+    "Use the left arm to pick the mug with curved black handle, turn it, place it, then hang on the angular rack with slanted support rod.",
+    "Pick the black mug using your left arm, turn it, set it on the table, and hang it on the smooth rack with the right arm.",
+    "Using your left arm, lift the mug with curved black handle, rotate it, place it down, then your right arm to hang it onto the dark gray angled rack.",
+    "Grab the ceramic mug smooth outside, rotate it, place it in the middle, and hang it on the angular rack with slanted support rod.",
+    "With the left arm, grab the drinking mug shiny black exterior from the table, rotate it, place it centrally, and with the right arm, hang it onto the rack with angular body.",
+    "Take the glossy black mug medium-sized for drinking from the table, spin it, place it in the center, then hang it on the metallic rack with smooth finish.",
+    "Pick up the drinking mug shiny black exterior, turn it, place it centrally, then hang the drinking mug shiny black exterior onto the rack with angular body.",
+    "Take the glossy black mug medium-sized for drinking from the table, turn it, set it down, and attach it to the smooth rack.",
+    "Pick the drinking mug shiny black exterior from the table using one hand, rotate, and hang it on the dark gray rack.",
+    "Use the left arm to lift the medium mug smooth rounded handle, rotate it, put it down, then hook onto the smooth dark gray rack.",
+    "Take the mug with curved black handle, rotate it, set it on the table's center, then hang it onto the smooth dark gray rack.",
+    "Use your left arm to grab the black ceramic mug, rotate it, set it down, then hang on the smooth dark gray rack.",
+    "Take the medium black mug with handle, rotate it, set it in the middle, then hang it on the smooth rack.",
+    "With the left arm, pick the medium mug smooth rounded handle, rotate it, place it, then hang it onto the dark gray angled rack.",
+    "Pick the medium black mug with handle from the table, rotate it, place it, and then hang it onto the metal rack.",
+    "Lift the drinking mug shiny black exterior, twist it, set it back, and secure it onto the metallic angular rack with rod pair.",
+    "Take the palm-sized mug glossy black body from the table, rotate it, place it in the center, then hang it onto the dark gray angled rack.",
+    "Use your left arm to pick the drinking mug shiny black exterior, rotate it, set it down, and hang it onto the rack with two rods sticking out.",
+    "Pick the drinking mug shiny black exterior up, twist it, place it back, then hang it onto the rack with angular body.",
+    "Take the medium mug smooth rounded handle with one arm, rotate it, and hang it onto the dark gray rack.",
+    "Use the left arm to grab the mug with curved black handle, rotate it, place it down, and hang it onto the smooth rack with the right arm.",
+    "Take the ceramic mug smooth outside, rotate it, place it in the center, then hang it on the angled rack with long and short rods.",
+    "Use the left arm to grab the palm-sized mug glossy black body, flip it, set it down, and then attach it to the rack with two rods sticking out.",
+    "Use the left arm to grab the glossy black mug medium-sized for drinking, rotate it, place it in the middle, then use the right arm to hang it onto the angular rack with slanted support rod.",
+    "Lift the mug with curved black handle, turn it around, set it in the middle, and place it on the angular rack with slanted support rod.",
+    "Use one arm to grab the palm-sized mug glossy black body, turn it, set it centrally, and use the other to hang it onto the rack with two rods sticking out.",
+    "Use the left arm to grab the black mug glossy ceramic material, rotate it, set it down, then hang the black mug glossy ceramic material onto the rack with two rods sticking out.",
+    "Pick the mug with curved black handle, turn it, put it in the center, and transfer it to the metallic angular rack with rod pair.",
+    "Using the left arm, pick the mug with curved black handle, turn it, place it down, and hang it on the smooth dark gray rack.",
+    "Grab the medium black mug with handle, rotate it, place it in the middle, and hang it onto the angular rack with slanted support rod.",
+    "Use your left arm to grab the cylindrical mug with black finish, rotate it, place it in the middle, then use the right arm to hang it onto the smooth rack.",
+    "Grab the black ceramic mug from the table, rotate it, place it, and hang it onto the smooth dark gray rack.",
+    "Use the right arm to lift the black mug, rotate it, and attach it to the angular rack with slanted support rod after setting it down.",
+    "Lift the cylindrical mug with black finish from the table, turn it, put it down in the middle, then hang it onto the smooth rack.",
+    "Grab the black mug, turn it around, put it back, then attach it to the rack with two rods sticking out.",
+    "Take the black mug, rotate it, place it back on the table, and hang it on the metal rack afterward.",
+    "With the left arm, grab the ceramic mug smooth outside, spin it, place it down, then use the right arm to hang it on the metallic angular rack with rod pair.",
+    "Grab the ceramic mug smooth outside, rotate it, place it on the table, and hook it onto the metal rack.",
+    "Lift the drinking mug shiny black exterior from the table, rotate it, place it in the middle, and hang it on the angular rack with slanted support rod.",
+    "Lift the medium mug smooth rounded handle, give it a turn, and hang it onto the smooth rack.",
+    "Lift the drinking mug shiny black exterior, turn it, place it back, and move it onto the rack with two rods sticking out with the right arm.",
+    "Lift the black mug glossy ceramic material, rotate it, put it down in the table's center, then hang it onto the rack with two rods sticking out.",
+    "Use the left arm to pick the cylindrical mug with black finish, turn it, place it, then hang on the angled rack with long and short rods.",
+    "Pick the palm-sized mug glossy black body using your left arm, turn it, set it on the table, and hang it on the angled rack with long and short rods with the right arm.",
+    "Using your left arm, lift the medium black mug with handle, rotate it, place it down, then your right arm to hang it onto the dark gray angled rack.",
+    "Grab the cylindrical mug with black finish, rotate it, place it in the middle, and hang it on the metal rack.",
+    "With the left arm, grab the drinking mug shiny black exterior from the table, rotate it, place it centrally, and with the right arm, hang it onto the metal rack.",
+    "Take the black mug from the table, spin it, place it in the center, then hang it on the angled rack with long and short rods.",
+    "Pick up the drinking mug shiny black exterior, turn it, place it centrally, then hang the drinking mug shiny black exterior onto the metal rack.",
+    "Take the medium mug smooth rounded handle from the table, turn it, set it down, and attach it to the angled rack with long and short rods.",
+    "Pick the black mug from the table using one hand, rotate, and hang it on the smooth dark gray rack.",
+    "Use the left arm to lift the ceramic mug smooth outside, rotate it, put it down, then hook onto the angular rack with slanted support rod.",
+    "Take the glossy black mug medium-sized for drinking, rotate it, set it on the table's center, then hang it onto the medium rack with protruding rods.",
+    "Use your left arm to grab the mug with curved black handle, rotate it, set it down, then hang on the metallic angular rack with rod pair.",
+    "Take the drinking mug shiny black exterior, rotate it, set it in the middle, then hang it on the dark gray rack.",
+    "With the left arm, pick the black mug glossy ceramic material, rotate it, place it, then hang it onto the rack with two rods sticking out.",
+    "Pick the black mug with rounded sturdy handle from the table, rotate it, place it, and then hang it onto the angled rack with long and short rods.",
+    "Lift the cylindrical mug with black finish, twist it, set it back, and secure it onto the dark gray angled rack.",
+    "Take the black mug with rounded sturdy handle from the table, rotate it, place it in the center, then hang it onto the dark gray rack.",
+    "Use your left arm to pick the black mug glossy ceramic material, rotate it, set it down, and hang it onto the smooth dark gray rack.",
+    "Pick the palm-sized mug glossy black body up, twist it, place it back, then hang it onto the metallic rack with smooth finish.",
+    "Take the drinking mug shiny black exterior with one arm, rotate it, and hang it onto the metal rack.",
+    "Use the left arm to grab the black mug glossy ceramic material, rotate it, place it down, and hang it onto the angled rack with long and short rods with the right arm.",
+    "Take the medium black mug with handle, rotate it, place it in the center, then hang it on the metal rack.",
+    "Use the left arm to grab the medium mug smooth rounded handle, flip it, set it down, and then attach it to the rack with angular body.",
+    "Use the left arm to grab the cylindrical mug with black finish, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack.",
+    "Lift the glossy black mug medium-sized for drinking, turn it around, set it in the middle, and place it on the metal rack.",
+    "Use one arm to grab the black mug glossy ceramic material, turn it, set it centrally, and use the other to hang it onto the angled rack with long and short rods.",
+    "Use the left arm to grab the glossy black mug medium-sized for drinking, rotate it, set it down, then hang the glossy black mug medium-sized for drinking onto the angled rack with long and short rods.",
+    "Pick the black mug, turn it, put it in the center, and transfer it to the smooth rack.",
+    "Using the left arm, pick the ceramic mug smooth outside, turn it, place it down, and hang it on the medium rack with protruding rods.",
+    "Grab the ceramic mug smooth outside, rotate it, place it in the middle, and hang it onto the rack with two rods sticking out.",
+    "Use your left arm to grab the glossy black mug medium-sized for drinking, rotate it, place it in the middle, then use the right arm to hang it onto the metallic rack with smooth finish.",
+    "Grab the drinking mug shiny black exterior from the table, rotate it, place it, and hang it onto the medium rack with protruding rods.",
+    "Use the right arm to lift the mug with curved black handle, rotate it, and attach it to the angled rack with long and short rods after setting it down.",
+    "Lift the black mug glossy ceramic material from the table, turn it, put it down in the middle, then hang it onto the rack with angular body.",
+    "Grab the black ceramic mug, turn it around, put it back, then attach it to the smooth rack.",
+    "Take the medium mug smooth rounded handle, rotate it, place it back on the table, and hang it on the metallic rack with smooth finish afterward.",
+    "With the left arm, grab the palm-sized mug glossy black body, spin it, place it down, then use the right arm to hang it on the metal rack.",
+    "Grab the black mug glossy ceramic material, rotate it, place it on the table, and hook it onto the metal rack.",
+    "Lift the medium mug smooth rounded handle from the table, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.",
+    "Lift the black ceramic mug, give it a turn, and hang it onto the smooth dark gray rack.",
+    "Lift the black mug with rounded sturdy handle, turn it, place it back, and move it onto the angular rack with slanted support rod with the right arm.",
+    "Lift the black mug, rotate it, put it down in the table's center, then hang it onto the dark gray angled rack.",
+    "Use the left arm to pick the black mug glossy ceramic material, turn it, place it, then hang on the smooth rack.",
+    "Pick the drinking mug shiny black exterior using your left arm, turn it, set it on the table, and hang it on the rack with two rods sticking out with the right arm.",
+    "Using your left arm, lift the palm-sized mug glossy black body, rotate it, place it down, then your right arm to hang it onto the metallic rack with smooth finish.",
+    "Grab the mug with curved black handle, rotate it, place it in the middle, and hang it on the medium rack with protruding rods.",
+    "With the left arm, grab the medium mug smooth rounded handle from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic angular rack with rod pair.",
+    "Take the black mug glossy ceramic material from the table, spin it, place it in the center, then hang it on the rack with two rods sticking out.",
+    "Pick up the drinking mug shiny black exterior, turn it, place it centrally, then hang the drinking mug shiny black exterior onto the rack with two rods sticking out.",
+    "Take the black mug from the table, turn it, set it down, and attach it to the dark gray rack.",
+    "Pick the ceramic mug smooth outside from the table using one hand, rotate, and hang it on the smooth rack.",
+    "Use the left arm to lift the medium mug smooth rounded handle, rotate it, put it down, then hook onto the angular rack with slanted support rod.",
+    "Take the palm-sized mug glossy black body, rotate it, set it on the table's center, then hang it onto the medium rack with protruding rods.",
+    "Use your left arm to grab the glossy black mug medium-sized for drinking, rotate it, set it down, then hang on the rack with two rods sticking out."
+  ]
+}
diff --git a/hanging_mug/episode_0000046/TCP_head/metadata.json b/hanging_mug/episode_0000046/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9abc00f23d36a9997acd9ae466b8609f3511dcd
--- /dev/null
+++ b/hanging_mug/episode_0000046/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    348,
+    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/hanging_mug/episode_0000046/TCP_third/metadata.json b/hanging_mug/episode_0000046/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5114649929719a18a2d700578d8368b71118648
--- /dev/null
+++ b/hanging_mug/episode_0000046/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    348,
+    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/hanging_mug/episode_0000046/metadata.json b/hanging_mug/episode_0000046/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5cc18c78a886d251f82b28779a0a8cf373c0c98
--- /dev/null
+++ b/hanging_mug/episode_0000046/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "hanging_mug",
+  "episode": "episode_0000046",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/hanging_mug/aloha_agilex/data/episode_0000046.hdf5",
+  "num_frames": 348,
+  "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": [
+      348,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      348,
+      14
+    ],
+    "action_shape": [
+      348,
+      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 pick the dark green ceramic cup, turn it, place it, then hang on the medium rack with protruding rods.",
+    "Use the left arm to grab the starbucks green mug, flip it, set it down, and then attach it to the smooth rack.",
+    "With the left arm, grab the logo mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the dark gray angled rack.",
+    "Use the left arm to lift the smooth dark green mug, rotate it, put it down, then hook onto the dark gray angled rack.",
+    "Use one arm to grab the logo mug, turn it, set it centrally, and use the other to hang it onto the angular rack with slanted support rod.",
+    "Pick the Starbucks branded coffee mug using your left arm, turn it, set it on the table, and hang it on the smooth dark gray rack with the right arm.",
+    "Lift the ceramic mug for hot drinks from the table, turn it, put it down in the middle, then hang it onto the metallic rack with smooth finish.",
+    "With the left arm, grab the round mug with one handle, spin it, place it down, then use the right arm to hang it on the rack with angular body.",
+    "Take the starbucks green mug, rotate it, place it in the center, then hang it on the metallic rack with smooth finish.",
+    "Pick up the round mug with one handle, turn it, place it centrally, then hang the round mug with one handle onto the metal rack.",
+    "Use the left arm to grab the starbucks green mug, rotate it, place it in the middle, then use the right arm to hang it onto the metallic angular rack with rod pair.",
+    "Lift the medium mug with handle, give it a turn, and hang it onto the angled rack with long and short rods.",
+    "Use the left arm to grab the green drinking mug, rotate it, set it down, then hang the green drinking mug onto the angular rack with slanted support rod.",
+    "Take the green drinking mug, rotate it, set it on the table's center, then hang it onto the metal rack.",
+    "Use the left arm to grab the round mug with one handle, rotate it, place it down, and hang it onto the rack with angular body with the right arm.",
+    "Grab the medium mug with handle, rotate it, place it on the table, and hook it onto the angled rack with long and short rods.",
+    "Grab the smooth dark green mug from the table, rotate it, place it, and hang it onto the rack with angular body.",
+    "Take the medium-sized smooth green Starbucks mug, rotate it, place it back on the table, and hang it on the metallic rack with smooth finish afterward.",
+    "Lift the logo mug, twist it, set it back, and secure it onto the smooth rack.",
+    "Grab the smooth dark green mug, turn it around, put it back, then attach it to the rack with angular body.",
+    "Pick the smooth dark green mug from the table using one hand, rotate, and hang it on the smooth dark gray rack.",
+    "Use your left arm to pick the medium-sized smooth green Starbucks mug, rotate it, set it down, and hang it onto the medium rack with protruding rods.",
+    "Lift the green drinking mug, turn it around, set it in the middle, and place it on the rack with angular body.",
+    "Take the smooth dark green mug from the table, turn it, set it down, and attach it to the dark gray rack.",
+    "Grab the starbucks green mug, rotate it, place it in the middle, and hang it onto the rack with two rods sticking out.",
+    "Take the logo mug from the table, rotate it, place it in the center, then hang it onto the metal rack.",
+    "Using your left arm, lift the medium-sized smooth green Starbucks mug, rotate it, place it down, then your right arm to hang it onto the dark gray angled rack.",
+    "Pick the medium-sized smooth green Starbucks mug, turn it, put it in the center, and transfer it to the medium rack with protruding rods.",
+    "Use the right arm to lift the Starbucks branded coffee mug, rotate it, and attach it to the smooth rack after setting it down.",
+    "Take the green drinking mug, rotate it, set it in the middle, then hang it on the smooth rack.",
+    "With the left arm, pick the medium mug with handle, rotate it, place it, then hang it onto the rack with angular body.",
+    "Use your left arm to grab the ceramic mug for hot drinks, rotate it, set it down, then hang on the metallic rack with smooth finish.",
+    "Take the round mug with one handle from the table, spin it, place it in the center, then hang it on the dark gray angled rack.",
+    "Take the smooth dark green mug with one arm, rotate it, and hang it onto the angled rack with long and short rods.",
+    "Lift the starbucks green mug from the table, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair.",
+    "Grab the medium-sized smooth green Starbucks mug, rotate it, place it in the middle, and hang it on the metal rack.",
+    "Pick the medium-sized smooth green Starbucks mug up, twist it, place it back, then hang it onto the metallic rack with smooth finish.",
+    "Using the left arm, pick the ceramic mug, turn it, place it down, and hang it on the dark gray angled rack.",
+    "Pick the logo mug from the table, rotate it, place it, and then hang it onto the dark gray angled rack.",
+    "Lift the logo mug, rotate it, put it down in the table's center, then hang it onto the smooth rack.",
+    "Lift the starbucks green mug, turn it, place it back, and move it onto the rack with two rods sticking out with the right arm.",
+    "Use your left arm to grab the smooth dark green mug, rotate it, place it in the middle, then use the right arm to hang it onto the smooth dark gray rack.",
+    "Use the left arm to pick the Starbucks branded coffee mug, turn it, place it, then hang on the metal rack.",
+    "Use the left arm to grab the smooth dark green mug, flip it, set it down, and then attach it to the medium rack with protruding rods.",
+    "With the left arm, grab the starbucks green mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the rack with two rods sticking out.",
+    "Use the left arm to lift the green mug, rotate it, put it down, then hook onto the rack with two rods sticking out.",
+    "Use one arm to grab the green mug, turn it, set it centrally, and use the other to hang it onto the metallic rack with smooth finish.",
+    "Pick the green mug using your left arm, turn it, set it on the table, and hang it on the angular rack with slanted support rod with the right arm.",
+    "Lift the green mug from the table, turn it, put it down in the middle, then hang it onto the dark gray angled rack.",
+    "With the left arm, grab the starbucks green mug, spin it, place it down, then use the right arm to hang it on the medium rack with protruding rods.",
+    "Take the Starbucks branded coffee mug, rotate it, place it in the center, then hang it on the metallic rack with smooth finish.",
+    "Pick up the medium-sized smooth green Starbucks mug, turn it, place it centrally, then hang the medium-sized smooth green Starbucks mug onto the metal rack.",
+    "Use the left arm to grab the starbucks green mug, rotate it, place it in the middle, then use the right arm to hang it onto the medium rack with protruding rods.",
+    "Lift the logo mug, give it a turn, and hang it onto the metallic rack with smooth finish.",
+    "Use the left arm to grab the round mug with one handle, rotate it, set it down, then hang the round mug with one handle onto the metallic angular rack with rod pair.",
+    "Take the medium-sized smooth green Starbucks mug, rotate it, set it on the table's center, then hang it onto the medium rack with protruding rods.",
+    "Use the left arm to grab the Starbucks branded coffee mug, rotate it, place it down, and hang it onto the metallic angular rack with rod pair with the right arm.",
+    "Grab the starbucks green mug, rotate it, place it on the table, and hook it onto the metal rack.",
+    "Grab the ceramic mug for hot drinks from the table, rotate it, place it, and hang it onto the metallic angular rack with rod pair.",
+    "Take the Starbucks branded coffee mug, rotate it, place it back on the table, and hang it on the metal rack afterward.",
+    "Lift the green drinking mug, twist it, set it back, and secure it onto the metal rack.",
+    "Grab the ceramic mug, turn it around, put it back, then attach it to the rack with two rods sticking out.",
+    "Pick the ceramic mug for hot drinks from the table using one hand, rotate, and hang it on the dark gray angled rack.",
+    "Use your left arm to pick the dark green ceramic cup, rotate it, set it down, and hang it onto the smooth dark gray rack.",
+    "Lift the ceramic mug, turn it around, set it in the middle, and place it on the metallic rack with smooth finish.",
+    "Take the medium mug with handle from the table, turn it, set it down, and attach it to the metallic rack with smooth finish.",
+    "Grab the medium-sized smooth green Starbucks mug, rotate it, place it in the middle, and hang it onto the metallic rack with smooth finish.",
+    "Take the starbucks green mug from the table, rotate it, place it in the center, then hang it onto the metallic angular rack with rod pair.",
+    "Using your left arm, lift the ceramic mug, rotate it, place it down, then your right arm to hang it onto the angled rack with long and short rods.",
+    "Pick the Starbucks branded coffee mug, turn it, put it in the center, and transfer it to the smooth dark gray rack.",
+    "Use the right arm to lift the green drinking mug, rotate it, and attach it to the dark gray rack after setting it down.",
+    "Take the Starbucks branded coffee mug, rotate it, set it in the middle, then hang it on the metal rack.",
+    "With the left arm, pick the green drinking mug, rotate it, place it, then hang it onto the metal rack.",
+    "Use your left arm to grab the smooth dark green mug, rotate it, set it down, then hang on the smooth dark gray rack.",
+    "Take the medium mug with handle from the table, spin it, place it in the center, then hang it on the dark gray rack.",
+    "Take the round mug with one handle with one arm, rotate it, and hang it onto the dark gray angled rack.",
+    "Lift the starbucks green mug from the table, rotate it, place it in the middle, and hang it on the dark gray angled rack.",
+    "Grab the medium mug with handle, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.",
+    "Pick the round mug with one handle up, twist it, place it back, then hang it onto the dark gray angled rack.",
+    "Using the left arm, pick the green mug, turn it, place it down, and hang it on the angled rack with long and short rods.",
+    "Pick the round mug with one handle from the table, rotate it, place it, and then hang it onto the dark gray rack.",
+    "Lift the Starbucks branded coffee mug, rotate it, put it down in the table's center, then hang it onto the rack with angular body.",
+    "Lift the ceramic mug for hot drinks, turn it, place it back, and move it onto the rack with two rods sticking out with the right arm.",
+    "Use your left arm to grab the green drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with angular body.",
+    "Use the left arm to pick the round mug with one handle, turn it, place it, then hang on the rack with angular body.",
+    "Use the left arm to grab the dark green ceramic cup, flip it, set it down, and then attach it to the metallic angular rack with rod pair.",
+    "With the left arm, grab the logo mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth dark gray rack.",
+    "Use the left arm to lift the ceramic mug for hot drinks, rotate it, put it down, then hook onto the angular rack with slanted support rod.",
+    "Use one arm to grab the ceramic mug for hot drinks, turn it, set it centrally, and use the other to hang it onto the metal rack.",
+    "Pick the round mug with one handle using your left arm, turn it, set it on the table, and hang it on the medium rack with protruding rods with the right arm.",
+    "Lift the smooth dark green mug from the table, turn it, put it down in the middle, then hang it onto the dark gray angled rack.",
+    "With the left arm, grab the round mug with one handle, spin it, place it down, then use the right arm to hang it on the rack with two rods sticking out.",
+    "Take the Starbucks branded coffee mug, rotate it, place it in the center, then hang it on the medium rack with protruding rods.",
+    "Pick up the smooth dark green mug, turn it, place it centrally, then hang the smooth dark green mug onto the angular rack with slanted support rod.",
+    "Use the left arm to grab the green mug, rotate it, place it in the middle, then use the right arm to hang it onto the metallic rack with smooth finish.",
+    "Lift the ceramic mug, give it a turn, and hang it onto the metal rack.",
+    "Use the left arm to grab the starbucks green mug, rotate it, set it down, then hang the starbucks green mug onto the rack with two rods sticking out.",
+    "Take the green mug, rotate it, set it on the table's center, then hang it onto the angular rack with slanted support rod.",
+    "Use the left arm to grab the Starbucks branded coffee mug, rotate it, place it down, and hang it onto the angular rack with slanted support rod with the right arm.",
+    "Grab the starbucks green mug, rotate it, place it on the table, and hook it onto the smooth dark gray rack."
+  ]
+}
diff --git a/hanging_mug/episode_0000048/TCP_third/metadata.json b/hanging_mug/episode_0000048/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9914caa6c78946bc9bbb9ac99f5f5a3c56afebf7
--- /dev/null
+++ b/hanging_mug/episode_0000048/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    362,
+    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"
+}