diff --git a/remove_blocks_from_plate/1/meta.json b/remove_blocks_from_plate/1/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f907771c338297c94d47d876eb4dbf6323cd92d0
--- /dev/null
+++ b/remove_blocks_from_plate/1/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 1,
+  "start": {
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+    "b_on_plate_back": [
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+    "plate": [
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+  },
+  "end": {
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+    "b": [
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+    "plate": [
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+  "init_pose": [
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+  "timestamp": 1779915052.4855833
+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/10/meta.json b/remove_blocks_from_plate/10/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6acc8f26df6309b316c80a7f948ae86c47a96fd7
--- /dev/null
+++ b/remove_blocks_from_plate/10/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 10,
+  "start": {
+    "a_on_plate_front": [
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+      0.5
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+    "b_on_plate_back": [
+      -0.1,
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+    "plate": [
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+  },
+  "end": {
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+  "init_pose": [
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/14/meta.json b/remove_blocks_from_plate/14/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..069a0c081fafaef0d3294edfd7d417a66bbb64e3
--- /dev/null
+++ b/remove_blocks_from_plate/14/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 14,
+  "start": {
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/15/meta.json b/remove_blocks_from_plate/15/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa00d0ba8a10c53060cac18176574efff4ffcfd2
--- /dev/null
+++ b/remove_blocks_from_plate/15/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 15,
+  "start": {
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+      0.5
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/16/meta.json b/remove_blocks_from_plate/16/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bac308b16f1059060200e8bb13db01db5088709
--- /dev/null
+++ b/remove_blocks_from_plate/16/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 16,
+  "start": {
+    "a_on_plate_front": [
+      -0.1,
+      0.5
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+    "b_on_plate_back": [
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/17/meta.json b/remove_blocks_from_plate/17/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba57933e6a3dc05715de85c52ce7f469d216de86
--- /dev/null
+++ b/remove_blocks_from_plate/17/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 17,
+  "start": {
+    "a_on_plate_front": [
+      -0.1,
+      0.5
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+  "end": {
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/18/meta.json b/remove_blocks_from_plate/18/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaeaa8ebcae58de44c94fa57b309fd5dc51cd7ca
--- /dev/null
+++ b/remove_blocks_from_plate/18/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 18,
+  "start": {
+    "a_on_plate_front": [
+      -0.1,
+      0.5
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/19/meta.json b/remove_blocks_from_plate/19/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57134927b1a35ceb8f14f340e1092c326a8728dc
--- /dev/null
+++ b/remove_blocks_from_plate/19/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 19,
+  "start": {
+    "a_on_plate_front": [
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+      0.5
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/21/meta.json b/remove_blocks_from_plate/21/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dbd3f19bbd218d8766656a1974d59a3a7012dad
--- /dev/null
+++ b/remove_blocks_from_plate/21/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 21,
+  "start": {
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+      0.13,
+      0.7
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/23/meta.json b/remove_blocks_from_plate/23/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1243eabca773663d73fce7857329b505a393a8f
--- /dev/null
+++ b/remove_blocks_from_plate/23/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 23,
+  "start": {
+    "a_on_plate_front": [
+      0.13,
+      0.7
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+      0.13,
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/24/meta.json b/remove_blocks_from_plate/24/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10359793074ff7c8e3b87bfb85b37c460fc9b39d
--- /dev/null
+++ b/remove_blocks_from_plate/24/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 24,
+  "start": {
+    "a_on_plate_front": [
+      0.13,
+      0.7
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/27/meta.json b/remove_blocks_from_plate/27/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c7e77404de5602851b0bd63e82687c107575f34
--- /dev/null
+++ b/remove_blocks_from_plate/27/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 27,
+  "start": {
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+      0.13,
+      0.7
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/28/meta.json b/remove_blocks_from_plate/28/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54fd5ae8b0b1aad64c42fbf95b0a3e89fb250f66
--- /dev/null
+++ b/remove_blocks_from_plate/28/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 28,
+  "start": {
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+      0.13,
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+  "end": {
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/29/meta.json b/remove_blocks_from_plate/29/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b9966b6da53cdb5dab78cc664f8e2899c6251f7
--- /dev/null
+++ b/remove_blocks_from_plate/29/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 29,
+  "start": {
+    "a_on_plate_front": [
+      0.13,
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/3/meta.json b/remove_blocks_from_plate/3/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0c497e40551c44a0b2f81d85d5a45740ce866d8
--- /dev/null
+++ b/remove_blocks_from_plate/3/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 3,
+  "start": {
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/31/meta.json b/remove_blocks_from_plate/31/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7843d8a0e5dc0773ecb5209e7ebd86f987b48ca7
--- /dev/null
+++ b/remove_blocks_from_plate/31/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 31,
+  "start": {
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/33/meta.json b/remove_blocks_from_plate/33/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8602f78dc41428703c896876a37b15db5879ced3
--- /dev/null
+++ b/remove_blocks_from_plate/33/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 33,
+  "start": {
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/34/meta.json b/remove_blocks_from_plate/34/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0440bd00d88078d6cad50116ff0104b7797f082
--- /dev/null
+++ b/remove_blocks_from_plate/34/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/4/meta.json b/remove_blocks_from_plate/4/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f5e03181d3a52a883f973d9eecfcf2d33926d43
--- /dev/null
+++ b/remove_blocks_from_plate/4/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 4,
+  "start": {
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/40/meta.json b/remove_blocks_from_plate/40/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c9e1aa16b84a01a70f97aac17c082dd3adbfb08
--- /dev/null
+++ b/remove_blocks_from_plate/40/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 40,
+  "start": {
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/41/meta.json b/remove_blocks_from_plate/41/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78b100051248b3c7f738790a725f440f3b87451c
--- /dev/null
+++ b/remove_blocks_from_plate/41/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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+  "start": {
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/43/meta.json b/remove_blocks_from_plate/43/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7e0ef49ba1731c7f79ba60d43c0d3e8b910c52c
--- /dev/null
+++ b/remove_blocks_from_plate/43/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 43,
+  "start": {
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/44/meta.json b/remove_blocks_from_plate/44/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3442282a222de7d5edbcb283f4f31a3be6da1da1
--- /dev/null
+++ b/remove_blocks_from_plate/44/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 44,
+  "start": {
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/46/meta.json b/remove_blocks_from_plate/46/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dff13f219891dee17315201ee6d16dc27c2b5e5
--- /dev/null
+++ b/remove_blocks_from_plate/46/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 46,
+  "start": {
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/47/meta.json b/remove_blocks_from_plate/47/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..521c03b40f67ba94ffd0bad8561f3ba0d3693fb5
--- /dev/null
+++ b/remove_blocks_from_plate/47/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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+  "start": {
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/48/meta.json b/remove_blocks_from_plate/48/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92a3f092f030d7182dfd67eb382d9943650141f1
--- /dev/null
+++ b/remove_blocks_from_plate/48/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/49/meta.json b/remove_blocks_from_plate/49/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e415d098b3c4e471487b5a874955176765edb12
--- /dev/null
+++ b/remove_blocks_from_plate/49/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 49,
+  "start": {
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+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/50/meta.json b/remove_blocks_from_plate/50/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b24bfc8b66b8aa33b001d8520d5f6b4160444b1
--- /dev/null
+++ b/remove_blocks_from_plate/50/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 50,
+  "start": {
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/55/meta.json b/remove_blocks_from_plate/55/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56fa0d889ccef41a6238b01f16811e257a9a1403
--- /dev/null
+++ b/remove_blocks_from_plate/55/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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+  "start": {
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/56/meta.json b/remove_blocks_from_plate/56/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15ec58907f41bc5e9d10fc9402d5145002b56b5e
--- /dev/null
+++ b/remove_blocks_from_plate/56/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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+  "start": {
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/57/meta.json b/remove_blocks_from_plate/57/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a255a507f001afcda0898be9c97b5b6d6ab69c9
--- /dev/null
+++ b/remove_blocks_from_plate/57/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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+  "start": {
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/58/meta.json b/remove_blocks_from_plate/58/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..36fbbf43799176c9a194147203173ded1e09a756
--- /dev/null
+++ b/remove_blocks_from_plate/58/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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+  "start": {
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/59/meta.json b/remove_blocks_from_plate/59/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a080b4ed92c7e0d5d116d20efe132b7ecd865f0c
--- /dev/null
+++ b/remove_blocks_from_plate/59/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/6/meta.json b/remove_blocks_from_plate/6/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..902138be70101df913044ea1e49d7fd3f587e48b
--- /dev/null
+++ b/remove_blocks_from_plate/6/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/60/meta.json b/remove_blocks_from_plate/60/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48dfd7232e0ca9cfd404d41297f2e5889aa0a1f3
--- /dev/null
+++ b/remove_blocks_from_plate/60/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/61/meta.json b/remove_blocks_from_plate/61/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef3432246d488266791b147f441f5db322bae4af
--- /dev/null
+++ b/remove_blocks_from_plate/61/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/62/meta.json b/remove_blocks_from_plate/62/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a17dc3e324984d77e5206dbae0bb5946067ed2f
--- /dev/null
+++ b/remove_blocks_from_plate/62/meta.json
@@ -0,0 +1,38 @@
+{
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/63/meta.json b/remove_blocks_from_plate/63/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..88dc7fc27168c2b2a4d6bbccef7cd483506f8ebc
--- /dev/null
+++ b/remove_blocks_from_plate/63/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/64/meta.json b/remove_blocks_from_plate/64/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d583ade472ca43962520d04965a6b8df2aa7a88
--- /dev/null
+++ b/remove_blocks_from_plate/64/meta.json
@@ -0,0 +1,38 @@
+{
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/65/meta.json b/remove_blocks_from_plate/65/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be669067cb62402cd98e7dec9c0367d0c71da60c
--- /dev/null
+++ b/remove_blocks_from_plate/65/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/68/meta.json b/remove_blocks_from_plate/68/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3433747f0ddda1f39616bfe9f037c83db6186f0e
--- /dev/null
+++ b/remove_blocks_from_plate/68/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/70/meta.json b/remove_blocks_from_plate/70/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b679a499052c65380e98e580a76e98f882adfb5
--- /dev/null
+++ b/remove_blocks_from_plate/70/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/74/meta.json b/remove_blocks_from_plate/74/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..770fb025f787d7da6ff9bef76149a6fd40041a0d
--- /dev/null
+++ b/remove_blocks_from_plate/74/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/75/meta.json b/remove_blocks_from_plate/75/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ada768d0bf2ff5c551272280911332d8aa0df662
--- /dev/null
+++ b/remove_blocks_from_plate/75/meta.json
@@ -0,0 +1,38 @@
+{
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/79/meta.json b/remove_blocks_from_plate/79/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f045320e55e85ac7e7b247ae74787c386642cfb
--- /dev/null
+++ b/remove_blocks_from_plate/79/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/8/meta.json b/remove_blocks_from_plate/8/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89d82010b1328320a705b4828efa068353dc5f62
--- /dev/null
+++ b/remove_blocks_from_plate/8/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/81/meta.json b/remove_blocks_from_plate/81/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c28a9b0ad56957207536a76019d940f031eabdc
--- /dev/null
+++ b/remove_blocks_from_plate/81/meta.json
@@ -0,0 +1,38 @@
+{
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/82/meta.json b/remove_blocks_from_plate/82/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f43f5cda1eb3b9818876d695e454e8de443bb5db
--- /dev/null
+++ b/remove_blocks_from_plate/82/meta.json
@@ -0,0 +1,38 @@
+{
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/86/meta.json b/remove_blocks_from_plate/86/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba67ee5e9839f16f50aa76dc31be489d0513de26
--- /dev/null
+++ b/remove_blocks_from_plate/86/meta.json
@@ -0,0 +1,38 @@
+{
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/89/meta.json b/remove_blocks_from_plate/89/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be01f66c254f03f2044f4f9e42630656fb31f7f8
--- /dev/null
+++ b/remove_blocks_from_plate/89/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/9/meta.json b/remove_blocks_from_plate/9/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b70e51c9428199667beeb81b5b4af03825530aaf
--- /dev/null
+++ b/remove_blocks_from_plate/9/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/90/meta.json b/remove_blocks_from_plate/90/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fb576f3a1c9b39b3ab2d368830e0276eac0811e
--- /dev/null
+++ b/remove_blocks_from_plate/90/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/91/meta.json b/remove_blocks_from_plate/91/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b17277a87ca97dfecbb35b0a4902edc1f7f029
--- /dev/null
+++ b/remove_blocks_from_plate/91/meta.json
@@ -0,0 +1,38 @@
+{
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\ No newline at end of file
diff --git a/remove_blocks_from_plate/92/meta.json b/remove_blocks_from_plate/92/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7700d8caeccbb6c505a9caeb49497959d0f0c4f4
--- /dev/null
+++ b/remove_blocks_from_plate/92/meta.json
@@ -0,0 +1,38 @@
+{
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+  "end": {
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+  "init_pose": [
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+    0.4506558805884915,
+    0.3894248637105734
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+  "timestamp": 1779921889.565613
+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/94/meta.json b/remove_blocks_from_plate/94/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48ea38871ae68f48812eee11cd91d04cebff7128
--- /dev/null
+++ b/remove_blocks_from_plate/94/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 94,
+  "start": {
+    "a_on_plate_front": [
+      0.0,
+      0.6
+    ],
+    "b_on_plate_back": [
+      0.0,
+      0.7000000000000001
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+    "plate": [
+      0.0,
+      0.65
+    ]
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+  "end": {
+    "a": [
+      0.11642792929404128,
+      0.7926126104838449
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+    "b": [
+      -0.101366174263508,
+      0.7938120305342622
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+    "plate": [
+      0.0,
+      0.65
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+  "init_pose": [
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+    0.5903043179607379,
+    0.3479210972013747
+  ],
+  "timestamp": 1779921990.2712734
+}
\ No newline at end of file
diff --git a/remove_blocks_from_plate/98/meta.json b/remove_blocks_from_plate/98/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7e4f337989603246049c54dd8c747661d662617
--- /dev/null
+++ b/remove_blocks_from_plate/98/meta.json
@@ -0,0 +1,38 @@
+{
+  "task": "take_blocks_off_plate",
+  "episode": 98,
+  "start": {
+    "a_on_plate_front": [
+      0.0,
+      0.6
+    ],
+    "b_on_plate_back": [
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+    "plate": [
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+  "end": {
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+      0.7986699371274186
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+    "b": [
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+      0.65
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+  "init_pose": [
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+    0.6145514901312652,
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+  "timestamp": 1779922187.5111513
+}
\ No newline at end of file