diff --git a/click_bell/episode_0000020/metadata.json b/click_bell/episode_0000020/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "click_bell",
+  "episode": "episode_0000020",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000020.hdf5",
+  "num_frames": 80,
+  "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": [
+      80,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      80,
+      14
+    ],
+    "action_shape": [
+      80,
+      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": [
+    "Click the designated center of the bell with metallic top and plastic base.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Push the white and black colored bell's <top center> on the table",
+    "Use the right arm to touch the rounded bell with flat black part's top center.",
+    "Guide the right arm to click the bell with metallic top and plastic base's top center.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Press the simple hand bell with black stand's top center with the right arm firmly.",
+    "Direct the right arm to touch the bell shaped like half-circle dome's top.",
+    "Make the right arm interact with the bell with metallic top and plastic base's top center.",
+    "Click the bell with metallic top and plastic base's top center using the right arm.",
+    "Direct the right arm to click the top of the simple hand bell with black stand.",
+    "Push the center of the small desk bell for tapping using the right arm.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Ask the right arm to interact with the white and black colored bell's top.",
+    "Press the white bell's top center on the table.",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Use the right arm to press the rounded bell with flat black part's top section.",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Activate the simple hand bell with black stand by pressing its top center.",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Have the right arm click at the compact tabletop bell's top center.",
+    "Press the center of the simple hand bell with black stand using the right arm.",
+    "Click using the right arm on the bell with black flat base's center.",
+    "Click the white bell's <top center> using the right arm",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Press down the white bell's top center gently.",
+    "Command the right arm to press the white bell with black bottom's top.",
+    "Press down the top of the plastic and metal bell using the right arm.",
+    "Click the top center of the white bell on table.",
+    "Click the designated center of the bell with black flat base.",
+    "Press the top center of the white bell on table.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Use the right arm to touch the white dome bell's top center.",
+    "Guide the right arm to click the bell with black flat base's top center.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Tap the white bell's top center with the right arm.",
+    "Press the small desk bell for tapping's top center with the right arm firmly.",
+    "Direct the right arm to touch the rounded bell with flat black part's top.",
+    "Make the right arm interact with the rounded bell with flat black part's top center.",
+    "Click the white and black colored bell's top center using the right arm.",
+    "Direct the right arm to click the top of the white bell.",
+    "Push the center of the white and black colored bell using the right arm.",
+    "Press the center top of the bell with metallic top and plastic base.",
+    "Locate the white and black colored bell and click its top center.",
+    "Ask the right arm to interact with the white and black colored bell's top.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Tap the rounded bell with flat black part's top center with the right arm.",
+    "Use the right arm to press the bell with black flat base's top section.",
+    "Press the specified top area of the white and black colored bell.",
+    "Activate the white bell by pressing its top center.",
+    "Tap the top center of the white bell.",
+    "Have the right arm click at the white dome bell's top center.",
+    "Press the center of the plastic and metal bell using the right arm.",
+    "Click using the right arm on the rounded bell with flat black part's center.",
+    "Click the bell with metallic top and plastic base's <top center> using the right arm",
+    "Click the plastic and metal bell at its top center on table.",
+    "Press down the white dome bell's top center gently.",
+    "Command the right arm to press the white bell with black bottom's top.",
+    "Press down the top of the white bell using the right arm.",
+    "Click the top center of the bell with black flat base on table.",
+    "Click the designated center of the white and black colored bell.",
+    "Press the top center of the white and black colored bell on table.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Use the right arm to touch the rounded bell with flat black part's top center.",
+    "Guide the right arm to click the white and black colored bell's top center.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Tap the bell with black flat base's top center with the right arm.",
+    "Press the white dome bell's top center with the right arm firmly.",
+    "Direct the right arm to touch the small desk bell for tapping's top.",
+    "Make the right arm interact with the small desk bell for tapping's top center.",
+    "Click the bell with black flat base's top center using the right arm.",
+    "Direct the right arm to click the top of the compact tabletop bell.",
+    "Push the center of the bell shaped like half-circle dome using the right arm.",
+    "Press the center top of the white bell with black bottom.",
+    "Locate the white bell and click its top center.",
+    "Ask the right arm to interact with the bell shaped like half-circle dome's top.",
+    "Press the white dome bell's top center on the table.",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Use the right arm to press the bell with black flat base's top section.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Activate the simple hand bell with black stand by pressing its top center.",
+    "Tap the top center of the white bell.",
+    "Have the right arm click at the plastic and metal bell's top center.",
+    "Press the center of the simple hand bell with black stand using the right arm.",
+    "Click using the right arm on the white bell's center.",
+    "Click the bell with black flat base's <top center> using the right arm",
+    "Click the white dome bell at its top center on table.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Command the right arm to press the plastic and metal bell's top.",
+    "Press down the top of the small desk bell for tapping using the right arm.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Click the designated center of the compact tabletop bell.",
+    "Press the top center of the bell with black flat base on table.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Use the right arm to touch the white dome bell's top center.",
+    "Guide the right arm to click the white and black colored bell's top center.",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Tap the white dome bell's top center with the right arm."
+  ]
+}
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