diff --git a/blocks_ranking_rgb/episode_0000045/TCP_head/metadata.json b/blocks_ranking_rgb/episode_0000045/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..be9088b4c8923e51d9deeda2a9ec262d7e2e72f0
--- /dev/null
+++ b/blocks_ranking_rgb/episode_0000045/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    498,
+    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/blocks_ranking_rgb/episode_0000045/metadata.json b/blocks_ranking_rgb/episode_0000045/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4862d50b42b9182eeefa0dd816c7924064731121
--- /dev/null
+++ b/blocks_ranking_rgb/episode_0000045/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "blocks_ranking_rgb",
+  "episode": "episode_0000045",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/blocks_ranking_rgb/aloha_agilex/data/episode_0000045.hdf5",
+  "num_frames": 498,
+  "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": [
+      498,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      498,
+      14
+    ],
+    "action_shape": [
+      498,
+      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 red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.",
+    "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Pick up red block, green block, and blue block sequentially and place them in a row from left to right.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.",
+    "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Pick up red block, green block, and blue block sequentially and place them in a row from left to right.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."
+  ]
+}
diff --git a/blocks_ranking_rgb/episode_0000049/TCP_third/metadata.json b/blocks_ranking_rgb/episode_0000049/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..551bdfc7b712900ac9f7f2f6bbf286ef9dadefdd
--- /dev/null
+++ b/blocks_ranking_rgb/episode_0000049/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    474,
+    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": "robotwin_tcp_v1",
+  "shape": [
+    123,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/move_playingcard_away/episode_0000001/metadata.json b/move_playingcard_away/episode_0000001/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_playingcard_away",
+  "episode": "episode_0000001",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_playingcard_away/aloha_agilex/data/episode_0000001.hdf5",
+  "num_frames": 123,
+  "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": [
+      123,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      123,
+      14
+    ],
+    "action_shape": [
+      123,
+      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": [
+    "Pick up the blue carton for playingcards and move it away.",
+    "Shift the blue pack holding playingcards outward by grabbing it with the right arm.",
+    "With the right arm, pick up the small playingcards container and slide it outward.",
+    "Shift the blue playingcards box off the table to the side.",
+    "Move the smooth playingcards holder further outward after picking it up.",
+    "Pick up the small playingcards container with the right arm and place it outward.",
+    "Pick the small playingcards container and move it outward from the table.",
+    "Take the smooth playingcards holder and place it further outward.",
+    "Lift the playingcards box with white symbols and push it off the table.",
+    "Grab the small playingcards container and take it away from the table.",
+    "Pick up the rectangular blue playingcards case and move it farther outward.",
+    "Take the playingcards pack with blue top and push it further away.",
+    "Pick up the smooth playingcards holder using the right arm and shift it outward.",
+    "Grab the blue pack holding playingcards using the right arm and move it outward.",
+    "Lift the palm-sized playingcards carton and relocate it off the table.",
+    "Shift the blue and white playingcards packaging outward after grabbing it.",
+    "Grab the box of playingcards and move it further outward.",
+    "Relocate the smooth playingcards holder farther outward using the right arm.",
+    "Take the blue playingcards box and move it away from the table.",
+    "Use the right arm to grab the palm-sized playingcards carton and move it away.",
+    "Lift the blue and white playingcards packaging using the right arm and transfer it outward.",
+    "Take the blue playingcards box and place it beyond the table.",
+    "Grab the small playingcards container and move it further away.",
+    "Use the right arm to pick up the card box with golden designs and push it outward.",
+    "Move the rectangular blue playingcards case outward from the table.",
+    "Use the right arm to grab the smooth playingcards holder and move it aside.",
+    "Grab the blue and white playingcards packaging with the right arm and move it outward.",
+    "Lift the blue and white playingcards packaging and shift it outward.",
+    "Lift the smooth playingcards holder and slide it off the table.",
+    "Lift the blue pack holding playingcards and set it away from the table.",
+    "Slide the blue pack holding playingcards off the table outward.",
+    "Grab the blue carton for playingcards from the table and shift it outward.",
+    "Lift the box of playingcards from the table and move it outward.",
+    "Move the small playingcards container farther from the table using the right arm.",
+    "Pick up the blue pack holding playingcards and shift it further outward.",
+    "Pick up the small playingcards container and place it further away.",
+    "Use the right arm to pick the smooth playingcards holder and move it outward.",
+    "Place the blue carton for playingcards away from the table outward.",
+    "Grab the blue pack holding playingcards and shift it farther away from the table.",
+    "Lift the blue pack holding playingcards with the right arm and move it outward.",
+    "Move the card box with golden designs away from its position on the table.",
+    "Lift the blue pack holding playingcards and place it farther away with the right arm.",
+    "Grab the palm-sized playingcards carton using the right arm and push it outward.",
+    "Pick the card box with golden designs from the table and shift it outward.",
+    "Grab the small playingcards container and set it beyond the table.",
+    "Use the right arm to pick the card box with golden designs and shift it outward.",
+    "Using the right arm, lift the rectangular blue playingcards case and move it outward.",
+    "Pick the rectangular blue playingcards case and slide it further outward.",
+    "Use the right arm to pick up the playingcards box with white symbols and move it.",
+    "Move the smooth playingcards holder off the table outward.",
+    "Pick up the box of playingcards and move it away.",
+    "Shift the playingcards box with white symbols outward by grabbing it with the right arm.",
+    "With the right arm, pick up the palm-sized playingcards carton and slide it outward.",
+    "Shift the blue pack holding playingcards off the table to the side.",
+    "Move the blue playingcards box further outward after picking it up.",
+    "Pick up the blue carton for playingcards with the right arm and place it outward.",
+    "Pick the smooth playingcards holder and move it outward from the table.",
+    "Take the blue playingcards box and place it further outward.",
+    "Lift the playingcards pack with blue top and push it off the table.",
+    "Grab the smooth playingcards holder and take it away from the table.",
+    "Pick up the small playingcards container and move it farther outward.",
+    "Take the blue pack holding playingcards and push it further away.",
+    "Pick up the blue and white playingcards packaging using the right arm and shift it outward.",
+    "Grab the blue carton for playingcards using the right arm and move it outward.",
+    "Lift the box of playingcards and relocate it off the table.",
+    "Shift the box of playingcards outward after grabbing it.",
+    "Grab the palm-sized playingcards carton and move it further outward.",
+    "Relocate the blue carton for playingcards farther outward using the right arm.",
+    "Take the blue and white playingcards packaging and move it away from the table.",
+    "Use the right arm to grab the card box with golden designs and move it away.",
+    "Lift the small playingcards container using the right arm and transfer it outward.",
+    "Take the playingcards pack with blue top and place it beyond the table.",
+    "Grab the playingcards pack with blue top and move it further away.",
+    "Use the right arm to pick up the smooth playingcards holder and push it outward.",
+    "Move the box of playingcards outward from the table.",
+    "Use the right arm to grab the palm-sized playingcards carton and move it aside.",
+    "Grab the box of playingcards with the right arm and move it outward.",
+    "Lift the rectangular blue playingcards case and shift it outward.",
+    "Lift the rectangular blue playingcards case and slide it off the table.",
+    "Lift the rectangular blue playingcards case and set it away from the table.",
+    "Slide the blue playingcards box off the table outward.",
+    "Grab the card box with golden designs from the table and shift it outward.",
+    "Lift the blue carton for playingcards from the table and move it outward.",
+    "Move the small playingcards container farther from the table using the right arm.",
+    "Pick up the blue and white playingcards packaging and shift it further outward.",
+    "Pick up the smooth playingcards holder and place it further away.",
+    "Use the right arm to pick the small playingcards container and move it outward.",
+    "Place the blue pack holding playingcards away from the table outward.",
+    "Grab the blue pack holding playingcards and shift it farther away from the table.",
+    "Lift the blue playingcards box with the right arm and move it outward.",
+    "Move the blue pack holding playingcards away from its position on the table.",
+    "Lift the blue carton for playingcards and place it farther away with the right arm.",
+    "Grab the blue and white playingcards packaging using the right arm and push it outward.",
+    "Pick the playingcards pack with blue top from the table and shift it outward.",
+    "Grab the playingcards pack with blue top and set it beyond the table.",
+    "Use the right arm to pick the rectangular blue playingcards case and shift it outward.",
+    "Using the right arm, lift the smooth playingcards holder and move it outward.",
+    "Pick the card box with golden designs and slide it further outward.",
+    "Use the right arm to pick up the small playingcards container and move it.",
+    "Move the blue playingcards box off the table outward."
+  ]
+}
diff --git a/move_playingcard_away/episode_0000003/TCP_third/metadata.json b/move_playingcard_away/episode_0000003/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a74b1dfc839af632fa0179ee173034f5488b86c4
--- /dev/null
+++ b/move_playingcard_away/episode_0000003/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    120,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/pick_dual_bottles/episode_0000039/TCP_third/metadata.json b/pick_dual_bottles/episode_0000039/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc9602bffa595a286f1fe952eef7eaba0a1838be
--- /dev/null
+++ b/pick_dual_bottles/episode_0000039/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    130,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
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diff --git a/place_cans_plasticbox/episode_0000044/TCP_head/metadata.json b/place_cans_plasticbox/episode_0000044/TCP_head/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    334,
+    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_cans_plasticbox/episode_0000044/metadata.json b/place_cans_plasticbox/episode_0000044/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_cans_plasticbox",
+  "episode": "episode_0000044",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_cans_plasticbox/aloha_agilex/data/episode_0000044.hdf5",
+  "num_frames": 334,
+  "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": [
+      334,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      334,
+      14
+    ],
+    "action_shape": [
+      334,
+      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": [
+    "After grasping the soda can with lime illustration and the small cylindrical drink container together, place each into the plasticbox with hinged lid.",
+    "Use both arms to place the beverage can with red green graphics and the brown can into the durable plasticbox with side handle.",
+    "Begin with the small soda can with lime graphics, place it in the light blue rectangular storage plasticbox, finish with the rounded metallic can into the light blue rectangular storage plasticbox.",
+    "Grasp the green red metallic soda can and the smooth brown can with rounded edges together; transfer the green red metallic soda can, then the smooth brown can with rounded edges, to the plasticbox with hinged lid.",
+    "Pick the small soda can with lime graphics and the small light brown cylindrical can together, then move both into the durable plasticbox with side handle.",
+    "Utilize the arms to deposit both the red green can and the light brown can with smooth texture into the plasticbox with hinged lid.",
+    "Pick the smooth cylindrical can with lime pattern and the smooth light brown can together, then move each into the light blue plasticbox",
+    "With both arms, transfer the soda can with lime illustration and the smooth brown can with rounded edges into the plasticbox with smooth plastic texture.",
+    "Use both arms to grab the can with red green label and the smooth brown can with rounded edges, place them in the light blue rectangular storage plasticbox.",
+    "Grab the beverage can with red green graphics and the brown can together, then insert each into the plasticbox with smooth plastic texture.",
+    "Lift the can with red green label and the smooth brown can with rounded edges together, then place both in the light blue rectangular storage plasticbox.",
+    "Pick up the beverage can with red green graphics and the white patterned brown metal can with separate arms, then fill the plasticbox for keeping items safe.",
+    "Pick the small soda can with lime graphics and the brown can together, then drop each into the smooth blue plasticbox with handle",
+    "Use your arms to set the metal can with pull-tab top and the metal can with printed white graphics gently into the durable plasticbox with side handle.",
+    "Lift the colorful can with lime and orange design and the light brown can with smooth texture, and stick them into the light blue rectangular storage plasticbox",
+    "Use both arms to move the small soda can with lime graphics and the smooth light brown can into the light blue plasticbox",
+    "Use dual arms to pick the red green can and the smooth light brown can, placing both in the smooth blue plasticbox with handle.",
+    "Pick and drop the smooth cylindrical can with lime pattern and the drink can with light brown shade into the light blue plasticbox.",
+    "Place the red green can and the small light brown cylindrical can into the light blue rectangular storage plasticbox using both arms.",
+    "Transfer the metallic drink can with pull-tab into the light blue plasticbox, then position the smooth light brown can within the light blue plasticbox.",
+    "Move the green red metallic soda can and the smooth brown can with rounded edges into the rectangular plasticbox with rounded edges using separate arms.",
+    "Transfer the can with red green label and the drink can with light brown shade into the light blue plasticbox using dual arms",
+    "Place the smooth cylindrical can with lime pattern and the drink can with light brown shade into the light blue rectangular storage plasticbox with dual arms",
+    "Using dual arms, place the colorful can with lime and orange design and the small light brown cylindrical can inside the light blue plasticbox",
+    "Drop the green red metallic soda can and the metal can with printed white graphics into the rectangular plasticbox with rounded edges with both arms",
+    "Use both arms to place the drink can with bright colors and the small light brown cylindrical can inside the boxy light blue plasticbox.",
+    "Pick the green red metallic soda can and the drink can with light brown shade simultaneously, then place them inside the plasticbox with hinged lid.",
+    "Use the arms to transfer the red green beverage can and the rounded metallic can into the plasticbox with hinged lid.",
+    "Lift the red green can and the hand-sized metallic can together, then place each in the plasticbox with rounded corners and lid.",
+    "Move the drink can with bright colors to the light blue plasticbox and repeat with the white patterned brown metal can.",
+    "Both arms lift the beverage can with red green graphics and the white patterned brown metal can, then place them in the light blue rectangular storage plasticbox.",
+    "Grab the small soda can with lime graphics and the drink can with light brown shade together, then transfer them to the plasticbox with smooth plastic texture.",
+    "Place the soda can with lime illustration into the light blue rectangular storage plasticbox, then place the hand-sized metallic can into the light blue rectangular storage plasticbox.",
+    "Transfer the metal can with pull-tab top to the plasticbox with smooth plastic texture, then transfer the rounded metallic can to the plasticbox with smooth plastic texture.",
+    "Place the green red metallic soda can and the drink can with light brown shade in the plasticbox for keeping items safe using both arms.",
+    "Use both arms to move the small soda can with lime graphics and the smooth brown can with rounded edges into the blue plasticbox for storing things.",
+    "Use arms to set the smooth cylindrical can with lime pattern and the rounded metallic can into the plasticbox with hinged lid.",
+    "Place the small soda can with lime graphics in the plasticbox with smooth plastic texture, follow with the metal can with printed white graphics using each arm.",
+    "Pick the colorful can with lime and orange design and the smooth light brown can together, then put both inside the durable plasticbox with side handle.",
+    "Use both arms to pick the smooth cylindrical can with lime pattern and the small light brown cylindrical can together for the light blue rectangular storage plasticbox.",
+    "Grip the red green can and the smooth brown can with rounded edges simultaneously, then insert both into the smooth blue plasticbox with handle.",
+    "Employ both arms to pick the red green beverage can and the small cylindrical drink container, and place them inside the plasticbox for keeping items safe.",
+    "Grasp the can with red green label and the small light brown cylindrical can simultaneously, then place both in the blue plasticbox for storing things.",
+    "Pick the metallic drink can with pull-tab and the small light brown cylindrical can together; place the metallic drink can with pull-tab, then the small light brown cylindrical can, in the plasticbox for keeping items safe.",
+    "Lift the red green can and the smooth brown can with rounded edges simultaneously, then set them into the light blue rectangular storage plasticbox.",
+    "First grasp the colorful can with lime and orange design and the rounded metallic can together, then place both in the blue plasticbox for storing things.",
+    "First move the smooth cylindrical can with lime pattern to the smooth blue plasticbox with handle, then move the metal can with printed white graphics into the smooth blue plasticbox with handle.",
+    "Lift the beverage can with red green graphics and the small light brown cylindrical can, then set them inside the boxy light blue plasticbox",
+    "Use both arms, position the soda can with lime illustration and the smooth brown can with rounded edges within the rectangular plasticbox with rounded edges.",
+    "Pick the colorful can with lime and orange design and the metal can with printed white graphics using both arms and put them in the durable plasticbox with side handle",
+    "After grasping the soda can with lime illustration and the smooth brown can with rounded edges together, place each into the plasticbox for carrying items.",
+    "Use both arms to place the beverage can with red green graphics and the light brown can with smooth texture into the plasticbox with rounded corners and lid.",
+    "Begin with the metallic drink can with pull-tab, place it in the light blue rectangular storage plasticbox, finish with the white patterned brown metal can into the light blue rectangular storage plasticbox.",
+    "Grasp the smooth cylindrical can with lime pattern and the smooth brown can with rounded edges together; transfer the smooth cylindrical can with lime pattern, then the smooth brown can with rounded edges, to the durable plasticbox with side handle.",
+    "Pick the soda can with lime illustration and the drink can with light brown shade together, then move both into the plasticbox for carrying items.",
+    "Utilize the arms to deposit both the drink can with bright colors and the smooth light brown can into the boxy light blue plasticbox.",
+    "Pick the small soda can with lime graphics and the light brown can with smooth texture together, then move each into the durable plasticbox with side handle",
+    "With both arms, transfer the metallic drink can with pull-tab and the hand-sized metallic can into the blue plasticbox for storing things.",
+    "Use both arms to grab the beverage can with red green graphics and the brown can, place them in the plasticbox for keeping items safe.",
+    "Grab the metal can with pull-tab top and the white patterned brown metal can together, then insert each into the plasticbox for carrying items.",
+    "Lift the metal can with pull-tab top and the metal can with white decorative designs together, then place both in the smooth blue plasticbox with handle.",
+    "Pick up the metal can with pull-tab top and the light brown can with smooth texture with separate arms, then fill the durable plasticbox with side handle.",
+    "Pick the can with red green label and the small light brown cylindrical can together, then drop each into the plasticbox with smooth plastic texture",
+    "Use your arms to set the red green beverage can and the rounded metallic can gently into the plasticbox for keeping items safe.",
+    "Lift the red green can and the white patterned brown metal can, and stick them into the blue plasticbox for storing things",
+    "Use both arms to move the smooth cylindrical can with lime pattern and the metal can with white decorative designs into the light blue plasticbox",
+    "Use dual arms to pick the beverage can with red green graphics and the drink can with light brown shade, placing both in the rectangular plasticbox with rounded edges.",
+    "Pick and drop the drink can with bright colors and the smooth light brown can into the rectangular plasticbox with rounded edges.",
+    "Place the green red metallic soda can and the small cylindrical drink container into the plasticbox for keeping items safe using both arms.",
+    "Transfer the red green beverage can into the plasticbox with hinged lid, then position the small cylindrical drink container within the plasticbox with hinged lid.",
+    "Move the metallic drink can with pull-tab and the brown can into the blue plasticbox for storing things using separate arms.",
+    "Transfer the colorful can with lime and orange design and the white patterned brown metal can into the durable plasticbox with side handle using dual arms",
+    "Place the red green beverage can and the metal can with white decorative designs into the blue plasticbox for storing things with dual arms",
+    "Using dual arms, place the green red metallic soda can and the light brown can with smooth texture inside the light blue rectangular storage plasticbox",
+    "Drop the beverage can with red green graphics and the white patterned brown metal can into the plasticbox with hinged lid with both arms",
+    "Use both arms to place the metal can with pull-tab top and the light brown can with smooth texture inside the light blue rectangular storage plasticbox.",
+    "Pick the metal can with pull-tab top and the small light brown cylindrical can simultaneously, then place them inside the durable plasticbox with side handle.",
+    "Use the arms to transfer the colorful can with lime and orange design and the metal can with printed white graphics into the light blue plasticbox.",
+    "Lift the small soda can with lime graphics and the light brown can with smooth texture together, then place each in the plasticbox with hinged lid.",
+    "Move the small soda can with lime graphics to the plasticbox for keeping items safe and repeat with the metal can with printed white graphics.",
+    "Both arms lift the red green beverage can and the metal can with white decorative designs, then place them in the plasticbox with rounded corners and lid.",
+    "Grab the colorful can with lime and orange design and the smooth brown can with rounded edges together, then transfer them to the plasticbox with hinged lid.",
+    "Place the red green can into the light blue rectangular storage plasticbox, then place the small cylindrical drink container into the light blue rectangular storage plasticbox.",
+    "Transfer the drink can with bright colors to the smooth blue plasticbox with handle, then transfer the rounded metallic can to the smooth blue plasticbox with handle.",
+    "Place the small soda can with lime graphics and the smooth brown can with rounded edges in the light blue plasticbox using both arms.",
+    "Use both arms to move the beverage can with red green graphics and the brown can into the boxy light blue plasticbox.",
+    "Use arms to set the green red metallic soda can and the white patterned brown metal can into the smooth blue plasticbox with handle.",
+    "Place the metal can with pull-tab top in the plasticbox with smooth plastic texture, follow with the small light brown cylindrical can using each arm.",
+    "Pick the beverage can with red green graphics and the small light brown cylindrical can together, then put both inside the light blue rectangular storage plasticbox.",
+    "Use both arms to pick the beverage can with red green graphics and the light brown can with smooth texture together for the light blue rectangular storage plasticbox.",
+    "Grip the small soda can with lime graphics and the metal can with white decorative designs simultaneously, then insert both into the light blue rectangular storage plasticbox.",
+    "Employ both arms to pick the drink can with bright colors and the small cylindrical drink container, and place them inside the plasticbox with smooth plastic texture.",
+    "Grasp the beverage can with red green graphics and the white patterned brown metal can simultaneously, then place both in the light blue plasticbox.",
+    "Pick the metal can with pull-tab top and the small light brown cylindrical can together; place the metal can with pull-tab top, then the small light brown cylindrical can, in the plasticbox with hinged lid.",
+    "Lift the soda can with lime illustration and the rounded metallic can simultaneously, then set them into the plasticbox with rounded corners and lid.",
+    "First grasp the red green can and the small light brown cylindrical can together, then place both in the light blue rectangular storage plasticbox.",
+    "First move the green red metallic soda can to the light blue rectangular storage plasticbox, then move the small cylindrical drink container into the light blue rectangular storage plasticbox.",
+    "Lift the red green can and the drink can with light brown shade, then set them inside the plasticbox for carrying items",
+    "Use both arms, position the metal can with pull-tab top and the white patterned brown metal can within the plasticbox with rounded corners and lid.",
+    "Pick the green red metallic soda can and the white patterned brown metal can using both arms and put them in the durable plasticbox with side handle"
+  ]
+}
diff --git a/place_container_plate/episode_0000038/TCP_third/metadata.json b/place_container_plate/episode_0000038/TCP_third/metadata.json
new file mode 100644
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--- /dev/null
+++ b/place_container_plate/episode_0000038/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    192,
+    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/place_empty_cup/episode_0000045/TCP_head/metadata.json b/place_empty_cup/episode_0000045/TCP_head/metadata.json
new file mode 100644
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--- /dev/null
+++ b/place_empty_cup/episode_0000045/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    185,
+    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"
+}
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