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+{"episode_index": 0, "tasks": ["Pick the rectangular hamburg with rounded edges, then the Bright red box with fries inside, and place them on the rectangular tray."], "length": 242}
+{"episode_index": 1, "tasks": ["Pick the hamburg box with lid, then the Small red box fries inside, and place them on the medium rectangular flat tray."], "length": 240}
+{"episode_index": 2, "tasks": ["Take the white and yellow printed hamburg holder and the golden fries in red packaging, place them onto the smooth plastic tray."], "length": 242}
+{"episode_index": 3, "tasks": ["Grab the green and yellow hamburg container, pick the French fries in red packaging, then set them on the dark green rectangular plastic tray"], "length": 240}
+{"episode_index": 4, "tasks": ["Using both arms, grab the smooth yellow hamburg packaging and the McDonald's fries bag for the plastic tray for carrying items."], "length": 242}
+{"episode_index": 5, "tasks": ["Grab the white lid with yellow bottom hamburg box and the red fries packet, then put them on the rectangular beige tray for objects."], "length": 238}
+{"episode_index": 6, "tasks": ["Using dual arms, lift the hamburg with yellow and brown marks and the Bright red box with fries inside and drop them on the tray for holding objects."], "length": 242}
+{"episode_index": 7, "tasks": ["Take the green and yellow hamburg container, take the red fries packet, and place them onto the tray for holding items."], "length": 238}
+{"episode_index": 8, "tasks": ["Grab the palm-sized hamburg packaging with one arm and the McDonald's logo on red fries box with the other for the rectangular tray."], "length": 243}
+{"episode_index": 9, "tasks": ["Using both arms, set the green and yellow hamburg container and the Palm-sized red fries container onto the medium bright orange tray."], "length": 240}
+{"episode_index": 10, "tasks": ["Pick up the easy-to-hold hamburg, then the Handheld fries pack bright red color, and place them onto the dark rectangular serving tray."], "length": 243}
+{"episode_index": 11, "tasks": ["Use dual arms to place the medium-sized hamburg and the Handheld fries pack bright red color onto the smooth light beige plastic tray"], "length": 241}
+{"episode_index": 12, "tasks": ["Use dual arms to place the smooth orange and white hamburg and the McDonald's fries bag onto the rectangular green tray"], "length": 241}
+{"episode_index": 13, "tasks": ["Pick up the soft hamburg with smooth wrapper, then the Handheld fries pack bright red color, and place them onto the dark green serving tray."], "length": 241}
+{"episode_index": 14, "tasks": ["Pick up the rectangular hamburg wrap with printed design and the bright red fries holder, then put them on the tray with rounded rectangular shape"], "length": 242}
+{"episode_index": 15, "tasks": ["Move the round hamburg and the rectangular red fries packet onto the tray for holding things with both arms."], "length": 243}
+{"episode_index": 16, "tasks": ["Take the brownish round hamburg, take the Bright red box with fries inside, and place them onto the medium beige tray with flat base."], "length": 242}
+{"episode_index": 17, "tasks": ["Pick the small soft hamburg in paper and the Small red box fries inside, and set them on the dark rectangular serving tray."], "length": 241}
+{"episode_index": 18, "tasks": ["Set the hand-sized hamburg and the small red fries packet on the tray with rounded corners using two arms."], "length": 240}
+{"episode_index": 19, "tasks": ["Move the hamburg with white patches and the crispy fries in hand-sized pouch onto the flat tray with rounded corners with both arms."], "length": 241}
+{"episode_index": 20, "tasks": ["Use both arms to transfer the foldable hamburg cardboard box and the golden fries in red packaging to the dark rectangular serving tray."], "length": 242}
+{"episode_index": 21, "tasks": ["Using dual arms, move the hamburg box with foldable top and the crispy fries in hand-sized pouch onto the tray with slightly raised edges."], "length": 243}
+{"episode_index": 22, "tasks": ["Take the small rounded hamburg and the red container with yellow fries, place them onto the plastic tray with shiny texture."], "length": 243}
+{"episode_index": 23, "tasks": ["Pick up the hamburg with patterned brown surface and the McDonald's logo on red fries box one by one and place on the medium beige tray with flat base."], "length": 241}
+{"episode_index": 24, "tasks": ["Take the hand-sized hamburg and the Potato fries packaged in red carton with both arms and set on the orange tray."], "length": 240}
+{"episode_index": 25, "tasks": ["Lift the wrapped hamburg with green design and the McDonald's logo on red fries box, position them on the plastic tray for carrying items"], "length": 238}
+{"episode_index": 26, "tasks": ["Pick the smooth hamburg box, then the Handheld fries pack bright red color, and place them on the medium plastic tray."], "length": 241}
+{"episode_index": 27, "tasks": ["Using dual arms, lift the hamburg with patterned brown surface and the French fries in red packaging and drop them on the medium rectangular flat tray."], "length": 241}
+{"episode_index": 28, "tasks": ["Using both arms, grab the orange hamburg and the Bright red box with fries inside for the orange tray."], "length": 242}
+{"episode_index": 29, "tasks": ["Move the irregular shaped hamburg and the French fries in red packaging onto the bright orange tray for serving with both arms."], "length": 240}
+{"episode_index": 30, "tasks": ["Using dual arms, move the rounded hamburg with painted details and the Bright red box with fries inside onto the beige tray."], "length": 240}
+{"episode_index": 31, "tasks": ["Place the soft hamburg with smooth wrapper and the golden fries in smooth red pouch onto the smooth plastic tray after picking them up."], "length": 239}
+{"episode_index": 32, "tasks": ["Using dual arms, move the bright yellow hamburg box with logo and the Potato fries packaged in red carton onto the rectangular tray."], "length": 241}
+{"episode_index": 33, "tasks": ["Take the brownish round hamburg and the rectangular red fries packet to the medium-sized plastic tray and set them there."], "length": 239}
+{"episode_index": 34, "tasks": ["Grab the rounded hamburg with painted details, then the red fries packet, and set them on the dark green rectangular plastic tray."], "length": 243}
+{"episode_index": 35, "tasks": ["Take the rectangular hamburg container with smooth finish and the Golden fries crispy red package container to the orange tray and set them there."], "length": 243}
+{"episode_index": 36, "tasks": ["Set the rectangular hamburg wrap with printed design and the red box with golden sticks down on the tray for holding things after picking them."], "length": 240}
+{"episode_index": 37, "tasks": ["Grab the yellow and brown patterned hamburg, grab the Golden fries sticks in red carton, and set both onto the brown tray with rim."], "length": 241}
+{"episode_index": 38, "tasks": ["Take the white hamburg with creased wrapper and the golden fries in red packaging with both arms and set on the brown tray with rim."], "length": 240}
+{"episode_index": 39, "tasks": ["Using dual arms, lift the white part with orange edges hamburg and the small red fries packet and drop them on the medium dark brown tray."], "length": 239}
+{"episode_index": 40, "tasks": ["Move the round, soft bread hamburg and the red container with yellow fries onto the medium rectangular flat tray with both arms."], "length": 243}
+{"episode_index": 41, "tasks": ["Use both arms to move the hand-sized hamburg and the Small red box fries inside to the rectangular green tray."], "length": 239}
+{"episode_index": 42, "tasks": ["Pick up the hamburg wrapped in white paper and the Golden fries sticks in red carton, then put both on the smooth plastic tray."], "length": 240}
+{"episode_index": 43, "tasks": ["Use dual arms to place the irregular shaped hamburg and the golden fries in red packaging onto the orange tray with smooth surface"], "length": 240}
+{"episode_index": 44, "tasks": ["Use both arms to transfer the smooth white hamburg wrap with yellow spots and the Handheld fries pack bright red color to the rectangular tray."], "length": 239}
+{"episode_index": 45, "tasks": ["Take the medium, squishy hamburg, take the golden fries in red packaging, and place them onto the dark green serving tray."], "length": 241}
+{"episode_index": 46, "tasks": ["Use both arms to transfer the yellow marked white and orange hamburg and the Palm-sized red fries container to the tray with rounded corners."], "length": 241}
+{"episode_index": 47, "tasks": ["Position the hamburg wrapped in white paper and the Rectangular red carton holding fries on the smooth rectangular tray with both arms."], "length": 240}
+{"episode_index": 48, "tasks": ["Use both arms to move the rectangular hamburg with rounded edges and the Handheld fries pack bright red color to the tray for holding objects."], "length": 243}
+{"episode_index": 49, "tasks": ["Grab the white hamburg and the crispy fries in hand-sized pouch, use both arms to set on the plastic tray with shiny texture."], "length": 242}
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diff --git a/robotwin_place_burger_fries_demo_clean_50/meta/info.json b/robotwin_place_burger_fries_demo_clean_50/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac864af757d3e0a928012427a0a7bd5eee2817a5
--- /dev/null
+++ b/robotwin_place_burger_fries_demo_clean_50/meta/info.json
@@ -0,0 +1,170 @@
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diff --git a/robotwin_place_burger_fries_demo_clean_50/meta/tasks.jsonl b/robotwin_place_burger_fries_demo_clean_50/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..908542549c7ec8bda114afea3a7220c3f9f6b460
--- /dev/null
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@@ -0,0 +1,50 @@
+{"task_index": 0, "task": "Pick the rectangular hamburg with rounded edges, then the Bright red box with fries inside, and place them on the rectangular tray."}
+{"task_index": 1, "task": "Pick the hamburg box with lid, then the Small red box fries inside, and place them on the medium rectangular flat tray."}
+{"task_index": 2, "task": "Take the white and yellow printed hamburg holder and the golden fries in red packaging, place them onto the smooth plastic tray."}
+{"task_index": 3, "task": "Grab the green and yellow hamburg container, pick the French fries in red packaging, then set them on the dark green rectangular plastic tray"}
+{"task_index": 4, "task": "Using both arms, grab the smooth yellow hamburg packaging and the McDonald's fries bag for the plastic tray for carrying items."}
+{"task_index": 5, "task": "Grab the white lid with yellow bottom hamburg box and the red fries packet, then put them on the rectangular beige tray for objects."}
+{"task_index": 6, "task": "Using dual arms, lift the hamburg with yellow and brown marks and the Bright red box with fries inside and drop them on the tray for holding objects."}
+{"task_index": 7, "task": "Take the green and yellow hamburg container, take the red fries packet, and place them onto the tray for holding items."}
+{"task_index": 8, "task": "Grab the palm-sized hamburg packaging with one arm and the McDonald's logo on red fries box with the other for the rectangular tray."}
+{"task_index": 9, "task": "Using both arms, set the green and yellow hamburg container and the Palm-sized red fries container onto the medium bright orange tray."}
+{"task_index": 10, "task": "Pick up the easy-to-hold hamburg, then the Handheld fries pack bright red color, and place them onto the dark rectangular serving tray."}
+{"task_index": 11, "task": "Use dual arms to place the medium-sized hamburg and the Handheld fries pack bright red color onto the smooth light beige plastic tray"}
+{"task_index": 12, "task": "Use dual arms to place the smooth orange and white hamburg and the McDonald's fries bag onto the rectangular green tray"}
+{"task_index": 13, "task": "Pick up the soft hamburg with smooth wrapper, then the Handheld fries pack bright red color, and place them onto the dark green serving tray."}
+{"task_index": 14, "task": "Pick up the rectangular hamburg wrap with printed design and the bright red fries holder, then put them on the tray with rounded rectangular shape"}
+{"task_index": 15, "task": "Move the round hamburg and the rectangular red fries packet onto the tray for holding things with both arms."}
+{"task_index": 16, "task": "Take the brownish round hamburg, take the Bright red box with fries inside, and place them onto the medium beige tray with flat base."}
+{"task_index": 17, "task": "Pick the small soft hamburg in paper and the Small red box fries inside, and set them on the dark rectangular serving tray."}
+{"task_index": 18, "task": "Set the hand-sized hamburg and the small red fries packet on the tray with rounded corners using two arms."}
+{"task_index": 19, "task": "Move the hamburg with white patches and the crispy fries in hand-sized pouch onto the flat tray with rounded corners with both arms."}
+{"task_index": 20, "task": "Use both arms to transfer the foldable hamburg cardboard box and the golden fries in red packaging to the dark rectangular serving tray."}
+{"task_index": 21, "task": "Using dual arms, move the hamburg box with foldable top and the crispy fries in hand-sized pouch onto the tray with slightly raised edges."}
+{"task_index": 22, "task": "Take the small rounded hamburg and the red container with yellow fries, place them onto the plastic tray with shiny texture."}
+{"task_index": 23, "task": "Pick up the hamburg with patterned brown surface and the McDonald's logo on red fries box one by one and place on the medium beige tray with flat base."}
+{"task_index": 24, "task": "Take the hand-sized hamburg and the Potato fries packaged in red carton with both arms and set on the orange tray."}
+{"task_index": 25, "task": "Lift the wrapped hamburg with green design and the McDonald's logo on red fries box, position them on the plastic tray for carrying items"}
+{"task_index": 26, "task": "Pick the smooth hamburg box, then the Handheld fries pack bright red color, and place them on the medium plastic tray."}
+{"task_index": 27, "task": "Using dual arms, lift the hamburg with patterned brown surface and the French fries in red packaging and drop them on the medium rectangular flat tray."}
+{"task_index": 28, "task": "Using both arms, grab the orange hamburg and the Bright red box with fries inside for the orange tray."}
+{"task_index": 29, "task": "Move the irregular shaped hamburg and the French fries in red packaging onto the bright orange tray for serving with both arms."}
+{"task_index": 30, "task": "Using dual arms, move the rounded hamburg with painted details and the Bright red box with fries inside onto the beige tray."}
+{"task_index": 31, "task": "Place the soft hamburg with smooth wrapper and the golden fries in smooth red pouch onto the smooth plastic tray after picking them up."}
+{"task_index": 32, "task": "Using dual arms, move the bright yellow hamburg box with logo and the Potato fries packaged in red carton onto the rectangular tray."}
+{"task_index": 33, "task": "Take the brownish round hamburg and the rectangular red fries packet to the medium-sized plastic tray and set them there."}
+{"task_index": 34, "task": "Grab the rounded hamburg with painted details, then the red fries packet, and set them on the dark green rectangular plastic tray."}
+{"task_index": 35, "task": "Take the rectangular hamburg container with smooth finish and the Golden fries crispy red package container to the orange tray and set them there."}
+{"task_index": 36, "task": "Set the rectangular hamburg wrap with printed design and the red box with golden sticks down on the tray for holding things after picking them."}
+{"task_index": 37, "task": "Grab the yellow and brown patterned hamburg, grab the Golden fries sticks in red carton, and set both onto the brown tray with rim."}
+{"task_index": 38, "task": "Take the white hamburg with creased wrapper and the golden fries in red packaging with both arms and set on the brown tray with rim."}
+{"task_index": 39, "task": "Using dual arms, lift the white part with orange edges hamburg and the small red fries packet and drop them on the medium dark brown tray."}
+{"task_index": 40, "task": "Move the round, soft bread hamburg and the red container with yellow fries onto the medium rectangular flat tray with both arms."}
+{"task_index": 41, "task": "Use both arms to move the hand-sized hamburg and the Small red box fries inside to the rectangular green tray."}
+{"task_index": 42, "task": "Pick up the hamburg wrapped in white paper and the Golden fries sticks in red carton, then put both on the smooth plastic tray."}
+{"task_index": 43, "task": "Use dual arms to place the irregular shaped hamburg and the golden fries in red packaging onto the orange tray with smooth surface"}
+{"task_index": 44, "task": "Use both arms to transfer the smooth white hamburg wrap with yellow spots and the Handheld fries pack bright red color to the rectangular tray."}
+{"task_index": 45, "task": "Take the medium, squishy hamburg, take the golden fries in red packaging, and place them onto the dark green serving tray."}
+{"task_index": 46, "task": "Use both arms to transfer the yellow marked white and orange hamburg and the Palm-sized red fries container to the tray with rounded corners."}
+{"task_index": 47, "task": "Position the hamburg wrapped in white paper and the Rectangular red carton holding fries on the smooth rectangular tray with both arms."}
+{"task_index": 48, "task": "Use both arms to move the rectangular hamburg with rounded edges and the Handheld fries pack bright red color to the tray for holding objects."}
+{"task_index": 49, "task": "Grab the white hamburg and the crispy fries in hand-sized pouch, use both arms to set on the plastic tray with shiny texture."}
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