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diff --git a/place_dual_shoes/episode_0000025/TCP_head/metadata.json b/place_dual_shoes/episode_0000025/TCP_head/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    267,
+    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/place_dual_shoes/episode_0000025/metadata.json b/place_dual_shoes/episode_0000025/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_dual_shoes",
+  "episode": "episode_0000025",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_dual_shoes/aloha_agilex/data/episode_0000025.hdf5",
+  "num_frames": 267,
+  "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": [
+      267,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      267,
+      14
+    ],
+    "action_shape": [
+      267,
+      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": [
+    "Set two the white bottom sports shoe in the orange shoe-box with tips left.",
+    "Use both arms to set two the red sneaker in the orange shoe-box, tips left.",
+    "Arrange the two the red sneaker, tips left, inside the Nike-branded orange shoe-box.",
+    "Take two the grooved sole red shoe, ensure tips left, place in the rectangular orange shoe-box.",
+    "Hold two the grooved sole red shoe, drop them in the rectangular orange shoe-box, tips pointing left.",
+    "Pick up two the shoe with flat rubber sole together and place in the medium orange box with smooth surface, tips left.",
+    "Grab two the sports shoe, tip left, place them in the smooth bright orange box.",
+    "Hold two the shoe with flat rubber sole, tips left, and place in the rectangular orange shoe-box.",
+    "Place both items matching the footwear with red top white sole tips leftward into the medium-sized box with Nike swoosh.",
+    "Set two the red shoe with white sole in the orange Nike shoe-box with logo, tips pointing left.",
+    "Pick up two the red sneaker and set them in the shoe-box with Nike printed logo, tips left.",
+    "Grab two the sports shoe, tips left, place them carefully in the orange shoe-box.",
+    "Place both items matching the single red shoe inside the orange cardboard shoe-box, make tips face left.",
+    "Move two the grooved sole red shoe into the medium-sized box with Nike swoosh, ensure tips point left.",
+    "Transfer two the grooved sole red shoe, tips left-aligned, into the orange cardboard shoe-box.",
+    "Pick two the grooved sole red shoe, ensure tips facing left, and position in the medium-sized box with Nike swoosh.",
+    "Grasp two the footwear with red top white sole, tips aligned left, and place them in the orange Nike shoe-box with logo.",
+    "Move a pair of the smooth-textured red shoe into the Nike-branded orange shoe-box, left tips first.",
+    "Put two the red shoe rounded at front into the orange shoe-box, shoe tips left.",
+    "Grab and place both items matching the medium red shoe in the rectangular orange shoe-box, tips left.",
+    "Grab a pair of the red shoe with white sole, tips left, put them into the orange shoe-box.",
+    "Use hands to grab two the red shoe rounded at front, tips left, drop into the Nike-branded orange shoe-box.",
+    "Lift two the footwear with red top white sole, ensure left tips, drop in the orange shoe-box.",
+    "Use arms to lift two the sports shoe, tips left, and set in the shoe-box with Nike printed logo.",
+    "Move two the lace-up red sports shoe, tip ends left, and set them in the medium orange box with smooth surface.",
+    "Handle two the medium red shoe, tips directed left, and drop them into the rectangular shoe-box with orange lid.",
+    "Slide both the medium red shoe into the orange cardboard shoe-box with tips pointing left.",
+    "Pick up two the shoe with flat rubber sole, tips left, and set them in the orange cardboard shoe-box.",
+    "Lift and put two the red shoe rounded at front in the orange cardboard shoe-box, tips left.",
+    "Place both items matching the footwear with red top white sole in the medium-sized box with Nike swoosh, tip left when set.",
+    "Ensure two the red shoe with white sole are in the orange shoe-box, tips facing left.",
+    "Collect two the red sneaker, tips facing left, and put in the orange shoe-box.",
+    "Put two the footwear with red top white sole, tips to the left, into the medium-sized box with Nike swoosh.",
+    "Pick up two the smooth-textured red shoe, tips left, drop them into the smooth bright orange box.",
+    "Use both arms to place both items matching the sports shoe into the orange Nike shoe-box with logo, tips left.",
+    "Put two the red shoe rounded at front in the smooth bright orange box with tips facing left.",
+    "Position two the smooth-textured red shoe into the shoe-box with Nike printed logo, shoe tips leftward.",
+    "Grab both the red shoe rounded at front and put them into the orange cardboard shoe-box, tips left.",
+    "Retrieve two the smooth-textured red shoe, orienting tips left, and place in the Nike-branded orange shoe-box.",
+    "With both arms, move two the footwear with red top white sole into the medium orange box with smooth surface, tips facing left.",
+    "Stick both the single red shoe in the orange shoe-box, shoe tips pointing left.",
+    "Make sure tips point left, then place the footwear with red top white sole in the medium-sized box with Nike swoosh.",
+    "Drop a pair of the single red shoe into the Nike-branded orange shoe-box, tips align left.",
+    "Set two the red sneaker into the smooth bright orange box, align tips to the left.",
+    "Grab both the red shoe with white sole, ensure tips left, place in the orange cardboard shoe-box.",
+    "Lay down two the sports shoe in the orange shoe-box, tips oriented left.",
+    "Place both items matching the red shoe with white sole into the orange cardboard shoe-box, ensure shoe tips face left.",
+    "Lift two the white bottom sports shoe, position them in the Nike-branded orange shoe-box, tips to the left.",
+    "Set two the medium red shoe in the medium-sized box with Nike swoosh with tips left.",
+    "Use both arms to set two the red sneaker in the medium-sized box with Nike swoosh, tips left.",
+    "Arrange the two the smooth-textured red shoe, tips left, inside the Nike-branded orange shoe-box.",
+    "Take two the sports shoe, ensure tips left, place in the bright orange shoe-box.",
+    "Hold two the sports shoe, drop them in the Nike-branded orange shoe-box, tips pointing left.",
+    "Pick up two the white bottom sports shoe together and place in the Nike-branded orange shoe-box, tips left.",
+    "Grab two the lace-up red sports shoe, tip left, place them in the smooth bright orange box.",
+    "Hold two the footwear with red top white sole, tips left, and place in the orange Nike shoe-box with logo.",
+    "Place both items matching the lace-up red sports shoe tips leftward into the orange shoe-box.",
+    "Set two the lace-up red sports shoe in the shoe-box with Nike printed logo, tips pointing left.",
+    "Pick up two the red shoe rounded at front and set them in the shoe-box with Nike printed logo, tips left.",
+    "Grab two the smooth-textured red shoe, tips left, place them carefully in the rectangular shoe-box with orange lid.",
+    "Place both items matching the red sneaker inside the smooth bright orange box, make tips face left.",
+    "Move two the medium red shoe into the orange cardboard shoe-box, ensure tips point left.",
+    "Transfer two the single red shoe, tips left-aligned, into the rectangular orange shoe-box.",
+    "Pick two the single red shoe, ensure tips facing left, and position in the smooth bright orange box.",
+    "Grasp two the white bottom sports shoe, tips aligned left, and place them in the Nike-branded orange shoe-box.",
+    "Move a pair of the smooth-textured red shoe into the orange cardboard shoe-box, left tips first.",
+    "Put two the sports shoe into the orange cardboard shoe-box, shoe tips left.",
+    "Grab and place both items matching the red shoe rounded at front in the bright orange shoe-box, tips left.",
+    "Grab a pair of the single red shoe, tips left, put them into the orange shoe-box.",
+    "Use hands to grab two the sports shoe, tips left, drop into the smooth orange box for shoes.",
+    "Lift two the single red shoe, ensure left tips, drop in the orange shoe-box.",
+    "Use arms to lift two the shoe with flat rubber sole, tips left, and set in the orange Nike shoe-box with logo.",
+    "Move two the sports shoe, tip ends left, and set them in the orange Nike shoe-box with logo.",
+    "Handle two the single red shoe, tips directed left, and drop them into the smooth bright orange box.",
+    "Slide both the footwear with red top white sole into the medium-sized box with Nike swoosh with tips pointing left.",
+    "Pick up two the smooth-textured red shoe, tips left, and set them in the shoe-box with Nike printed logo.",
+    "Lift and put two the sports shoe in the rectangular shoe-box with orange lid, tips left.",
+    "Place both items matching the red shoe rounded at front in the Nike-branded orange shoe-box, tip left when set.",
+    "Ensure two the single red shoe are in the rectangular shoe-box with orange lid, tips facing left.",
+    "Collect two the single red shoe, tips facing left, and put in the Nike-branded orange shoe-box.",
+    "Put two the grooved sole red shoe, tips to the left, into the rectangular orange shoe-box.",
+    "Pick up two the lace-up red sports shoe, tips left, drop them into the orange Nike shoe-box with logo.",
+    "Use both arms to place both items matching the sports shoe into the medium-sized box with Nike swoosh, tips left.",
+    "Put two the medium red shoe in the rectangular shoe-box with orange lid with tips facing left.",
+    "Position two the footwear with red top white sole into the orange cardboard shoe-box, shoe tips leftward.",
+    "Grab both the sports shoe and put them into the smooth orange box for shoes, tips left.",
+    "Retrieve two the smooth-textured red shoe, orienting tips left, and place in the rectangular shoe-box with orange lid.",
+    "With both arms, move two the red sneaker into the orange cardboard shoe-box, tips facing left.",
+    "Stick both the red shoe rounded at front in the shoe-box with Nike printed logo, shoe tips pointing left.",
+    "Make sure tips point left, then place the shoe with flat rubber sole in the shoe-box with Nike printed logo.",
+    "Drop a pair of the medium red shoe into the Nike-branded orange shoe-box, tips align left.",
+    "Set two the single red shoe into the orange shoe-box, align tips to the left.",
+    "Grab both the single red shoe, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Lay down two the medium red shoe in the Nike-branded orange shoe-box, tips oriented left.",
+    "Place both items matching the single red shoe into the orange shoe-box, ensure shoe tips face left.",
+    "Lift two the smooth-textured red shoe, position them in the smooth orange box for shoes, tips to the left.",
+    "Set two the shoe with flat rubber sole in the orange Nike shoe-box with logo with tips left.",
+    "Use both arms to set two the shoe with flat rubber sole in the orange cardboard shoe-box, tips left.",
+    "Arrange the two the shoe with flat rubber sole, tips left, inside the medium-sized box with Nike swoosh.",
+    "Take two the medium red shoe, ensure tips left, place in the bright orange shoe-box."
+  ]
+}
diff --git a/place_dual_shoes/episode_0000030/TCP_third/metadata.json b/place_dual_shoes/episode_0000030/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..231d902ad395b8953bb1909fefd41384657eef4e
--- /dev/null
+++ b/place_dual_shoes/episode_0000030/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    244,
+    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"
+}