Creating a timed metadata track in MP4

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The BMFF defines a meta data track as a track which can appear in the media file in addition to video & audio tracks. Such a track can be in the form of xml (metx), text (mett) or binary (urim).

Is there a library which is capable of taking a mp4 file as an input and appending a metadata track to it? Is there a sample mp4 to inspect and learn the exact structure of such a file?

Specifically, I'm interested in adding such a track to a fragmented mp4 file.

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