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+{"episode_index": 0, "tasks": ["Transfer the bottle made of smooth plastic, the water bottle with textured body, and the rounded bottle with a white neck into the medium-sized black plastic dustbin step by step."], "length": 649}
+{"episode_index": 1, "tasks": ["Grab the smooth yellow bottle with ridged cap, the medium-sized water bottle, and the red bottle sequentially, placing each into the medium-sized black plastic dustbin."], "length": 522}
+{"episode_index": 2, "tasks": ["Pick the medium plastic bottle with tapered neck, the hand-sized bottle, and the bottle with curved body shape from the table and place them inside the black and white trash holder."], "length": 670}
+{"episode_index": 3, "tasks": ["Using arms, grab the bottle with green cap and put it in the black garbage bin, repeat for the water bottle with textured body and the plastic bottle with red cap."], "length": 665}
+{"episode_index": 4, "tasks": ["Using arms, grab the bottle made of smooth plastic and the medium-sized water bottle, then place them into the smooth black dustbin along with the red-labeled soda bottle."], "length": 518}
+{"episode_index": 5, "tasks": ["Grab the yellow bottle, the water bottle with textured body, and the rounded bottle with a white neck and put them sequentially into the medium-sized black plastic dustbin."], "length": 824}
+{"episode_index": 6, "tasks": ["Take the medium plastic bottle with tapered neck with arms, put it in the smooth black dustbin, repeat the same for the clear bottle with blue sections and the black bottle with red label."], "length": 645}
+{"episode_index": 7, "tasks": ["Use arms to pick the cylindrical yellow bottle for holding liquids, the medium-sized water bottle, the rounded bottle with a white neck, and place them one by one in the rectangular black trash holder."], "length": 404}
+{"episode_index": 8, "tasks": ["Grab the medium plastic bottle with tapered neck and the smooth transparent plastic bottle, put them into the dustbin with lid and bag, and repeat for the smooth plastic bottle."], "length": 666}
+{"episode_index": 9, "tasks": ["Use arms to move the medium yellow cylindrical bottle, the bottle with ribbed design, and the smooth plastic bottle to the trash bin on the table's left."], "length": 510}
+{"episode_index": 10, "tasks": ["Place the medium plastic bottle with tapered neck, the medium-sized water bottle, and the drink bottle with slim neck in the plastic dustbin using the arms."], "length": 655}
+{"episode_index": 11, "tasks": ["Pick the yellow liquid container with green top, the transparent bottle, and the red bottle one at a time and put them into the medium-sized black plastic dustbin."], "length": 691}
+{"episode_index": 12, "tasks": ["Pick the smooth yellow bottle with ridged cap, the smooth transparent plastic bottle, and the rounded bottle with a white neck one at a time and put them into the medium-sized black plastic dustbin."], "length": 520}
+{"episode_index": 13, "tasks": ["Grab the yellow liquid container with green top, place it in the black bin with white liner, then grab the hand-sized bottle and the black bottle with red label for the black bin with white liner."], "length": 514}
+{"episode_index": 14, "tasks": ["Start with the medium yellow cylindrical bottle, grab it and drop it into the black dustbin, repeat for the clear bottle with blue sections and the bottle with curved body shape."], "length": 653}
+{"episode_index": 15, "tasks": ["Grab the medium yellow cylindrical bottle, place it in the rectangular black trash holder, then grab the clear bottle with blue sections and the plastic bottle with red cap for the rectangular black trash holder."], "length": 523}
+{"episode_index": 16, "tasks": ["Drop the yellow bottle, the hand-sized bottle, and the smooth plastic bottle into the dustbin with white inner bag, handling them one at a time."], "length": 524}
+{"episode_index": 17, "tasks": ["Use arms to pick the medium yellow cylindrical bottle, the cylindrical bottle, and the rounded bottle with a white neck and place them in the medium black garbage container."], "length": 516}
+{"episode_index": 18, "tasks": ["Using arms, grab the bottle made of smooth plastic and put it in the black dustbin, repeat for the cylindrical bottle and the black soda bottle with white top."], "length": 782}
+{"episode_index": 19, "tasks": ["Take the yellow bottle body with tapered neck, the clear bottle with blue sections, and the black soda bottle with white top and place them into the black garbage bin on the left."], "length": 519}
+{"episode_index": 20, "tasks": ["Move the medium yellow cylindrical bottle to the black bin with white liner, then the smooth transparent plastic bottle, and finally the smooth plastic bottle."], "length": 654}
+{"episode_index": 21, "tasks": ["With arms, place the yellow liquid container with green top, the bottle with turquoise cap, and the black soda bottle with white top into the black bin with white liner step by step."], "length": 523}
+{"episode_index": 22, "tasks": ["Drop the medium plastic bottle with tapered neck, the medium-sized water bottle, and the red-labeled soda bottle into the dustbin with lid and bag, handling them one at a time."], "length": 549}
+{"episode_index": 23, "tasks": ["Pick the yellow bottle and move it into the black dustbin, repeat for the cylindrical bottle and the hand-sized drinking bottle."], "length": 656}
+{"episode_index": 24, "tasks": ["Place the smooth yellow bottle with ridged cap, the bottle with turquoise cap, and the bottle with curved body shape, one at a time, into the black dustbin."], "length": 684}
+{"episode_index": 25, "tasks": ["Drop the medium plastic bottle with tapered neck, the bottle with ribbed design, and the black and red bottle into the black dustbin, handling them one at a time."], "length": 658}
+{"episode_index": 26, "tasks": ["Using arms, grab the cylindrical yellow bottle for holding liquids and put it in the medium-sized black plastic dustbin, repeat for the transparent bottle and the red-labeled soda bottle."], "length": 662}
+{"episode_index": 27, "tasks": ["Grab the bottle with small ridged green cap, drop it in the black and white trash holder, do the same for the bottle with ribbed design and the drink bottle with slim neck."], "length": 520}
+{"episode_index": 28, "tasks": ["Take the yellow liquid container with green top, the medium-sized water bottle, and the black bottle with red label one at a time and place them into the smooth black dustbin."], "length": 666}
+{"episode_index": 29, "tasks": ["Place the bottle made of smooth plastic, the smooth transparent plastic bottle, and the red and black beverage bottle in the dustbin with lid and bag using the arms."], "length": 661}
+{"episode_index": 30, "tasks": ["Carry the cylindrical yellow bottle for holding liquids first, drop it into the black dustbin, repeat with the clear bottle with blue sections and the red bottle."], "length": 653}
+{"episode_index": 31, "tasks": ["Move the medium plastic bottle with tapered neck, the bottle for holding liquids, and the black soda bottle with white top into the black dustbin one by one."], "length": 651}
+{"episode_index": 32, "tasks": ["Pick up the smooth yellow bottle with ridged cap, the clear bottle with blue sections, and the black bottle with red label, moving them one by one into the black dustbin."], "length": 664}
+{"episode_index": 33, "tasks": ["Place the medium yellow cylindrical bottle, the medium-sized water bottle, and the black and red bottle into the black bin with white liner after taking them individually."], "length": 664}
+{"episode_index": 34, "tasks": ["Place the medium yellow cylindrical bottle, the blue-accented cylindrical bottle, and the rounded bottle with a white neck into the trash bin after taking them individually."], "length": 666}
+{"episode_index": 35, "tasks": ["Pick up the yellow bottle with smooth texture, the medium-sized water bottle, and the bottle with curved body shape, moving them one by one into the black and white trash holder."], "length": 657}
+{"episode_index": 36, "tasks": ["Grab the bottle made of smooth plastic, put it in the medium-sized black plastic dustbin, follow by moving the bottle for holding liquids and the black soda bottle with white top there too."], "length": 655}
+{"episode_index": 37, "tasks": ["Put the yellow bottle into the black bin with white liner, followed by the hand-sized bottle and the bottle with curved body shape."], "length": 649}
+{"episode_index": 38, "tasks": ["Grab the medium plastic bottle with tapered neck and the hand-sized bottle, put them into the black dustbin, and repeat for the drink bottle with slim neck."], "length": 652}
+{"episode_index": 39, "tasks": ["Carefully grab the yellow bottle body with tapered neck, the bottle with turquoise cap, and the rounded bottle with a white neck and position them in the medium black garbage container."], "length": 512}
+{"episode_index": 40, "tasks": ["Start with the medium yellow cylindrical bottle, grab it and drop it into the medium black garbage container, repeat for the water bottle with textured body and the red and black beverage bottle."], "length": 663}
+{"episode_index": 41, "tasks": ["Use arms to pick the bottle with small ridged green cap, the bottle with narrow neck, the drink bottle with slim neck, and place them one by one in the black garbage bin."], "length": 660}
+{"episode_index": 42, "tasks": ["Lift the cylindrical yellow bottle for holding liquids, the cylindrical bottle, and the hand-sized drinking bottle, dropping each into the plastic dustbin sequentially."], "length": 656}
+{"episode_index": 43, "tasks": ["Pick the cylindrical yellow bottle for holding liquids and move it into the dustbin with white inner bag, repeat for the cylindrical bottle and the red bottle."], "length": 667}
+{"episode_index": 44, "tasks": ["Using arms, pick up the yellow liquid container with green top, the bottle with narrow neck, and the hand-sized drinking bottle, dropping each into the smooth black dustbin."], "length": 661}
+{"episode_index": 45, "tasks": ["Pick the yellow liquid container with green top, drop it into the plastic dustbin, then move the bottle with turquoise cap and the black and red bottle into the plastic dustbin."], "length": 657}
+{"episode_index": 46, "tasks": ["Use arms to pick the yellow liquid container with green top, the transparent bottle, the red bottle, and place them one by one in the black bin with white liner."], "length": 659}
+{"episode_index": 47, "tasks": ["Grab the smooth yellow bottle with ridged cap, the bottle with narrow neck, and the bottle with curved body shape sequentially, placing each into the black garbage bin."], "length": 662}
+{"episode_index": 48, "tasks": ["Pick the green-striped cap on yellow bottle, the bottle with turquoise cap, and the plastic bottle with red cap from the table and place them inside the black and white trash holder."], "length": 666}
+{"episode_index": 49, "tasks": ["Pick the yellow bottle, the hand-sized bottle, and the red-labeled soda bottle one at a time and put them into the dustbin with lid and bag."], "length": 654}
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diff --git a/robotwin_put_bottles_dustbin_demo_clean_50/meta/info.json b/robotwin_put_bottles_dustbin_demo_clean_50/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4bc206ec57e7667dc89ce43e9f1a8e32c5856f2
--- /dev/null
+++ b/robotwin_put_bottles_dustbin_demo_clean_50/meta/info.json
@@ -0,0 +1,170 @@
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diff --git a/robotwin_put_bottles_dustbin_demo_clean_50/meta/tasks.jsonl b/robotwin_put_bottles_dustbin_demo_clean_50/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..72b2f97ef8e3ac21e267847ee2572c2abae8b01c
--- /dev/null
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@@ -0,0 +1,50 @@
+{"task_index": 0, "task": "Transfer the bottle made of smooth plastic, the water bottle with textured body, and the rounded bottle with a white neck into the medium-sized black plastic dustbin step by step."}
+{"task_index": 1, "task": "Grab the smooth yellow bottle with ridged cap, the medium-sized water bottle, and the red bottle sequentially, placing each into the medium-sized black plastic dustbin."}
+{"task_index": 2, "task": "Pick the medium plastic bottle with tapered neck, the hand-sized bottle, and the bottle with curved body shape from the table and place them inside the black and white trash holder."}
+{"task_index": 3, "task": "Using arms, grab the bottle with green cap and put it in the black garbage bin, repeat for the water bottle with textured body and the plastic bottle with red cap."}
+{"task_index": 4, "task": "Using arms, grab the bottle made of smooth plastic and the medium-sized water bottle, then place them into the smooth black dustbin along with the red-labeled soda bottle."}
+{"task_index": 5, "task": "Grab the yellow bottle, the water bottle with textured body, and the rounded bottle with a white neck and put them sequentially into the medium-sized black plastic dustbin."}
+{"task_index": 6, "task": "Take the medium plastic bottle with tapered neck with arms, put it in the smooth black dustbin, repeat the same for the clear bottle with blue sections and the black bottle with red label."}
+{"task_index": 7, "task": "Use arms to pick the cylindrical yellow bottle for holding liquids, the medium-sized water bottle, the rounded bottle with a white neck, and place them one by one in the rectangular black trash holder."}
+{"task_index": 8, "task": "Grab the medium plastic bottle with tapered neck and the smooth transparent plastic bottle, put them into the dustbin with lid and bag, and repeat for the smooth plastic bottle."}
+{"task_index": 9, "task": "Use arms to move the medium yellow cylindrical bottle, the bottle with ribbed design, and the smooth plastic bottle to the trash bin on the table's left."}
+{"task_index": 10, "task": "Place the medium plastic bottle with tapered neck, the medium-sized water bottle, and the drink bottle with slim neck in the plastic dustbin using the arms."}
+{"task_index": 11, "task": "Pick the yellow liquid container with green top, the transparent bottle, and the red bottle one at a time and put them into the medium-sized black plastic dustbin."}
+{"task_index": 12, "task": "Pick the smooth yellow bottle with ridged cap, the smooth transparent plastic bottle, and the rounded bottle with a white neck one at a time and put them into the medium-sized black plastic dustbin."}
+{"task_index": 13, "task": "Grab the yellow liquid container with green top, place it in the black bin with white liner, then grab the hand-sized bottle and the black bottle with red label for the black bin with white liner."}
+{"task_index": 14, "task": "Start with the medium yellow cylindrical bottle, grab it and drop it into the black dustbin, repeat for the clear bottle with blue sections and the bottle with curved body shape."}
+{"task_index": 15, "task": "Grab the medium yellow cylindrical bottle, place it in the rectangular black trash holder, then grab the clear bottle with blue sections and the plastic bottle with red cap for the rectangular black trash holder."}
+{"task_index": 16, "task": "Drop the yellow bottle, the hand-sized bottle, and the smooth plastic bottle into the dustbin with white inner bag, handling them one at a time."}
+{"task_index": 17, "task": "Use arms to pick the medium yellow cylindrical bottle, the cylindrical bottle, and the rounded bottle with a white neck and place them in the medium black garbage container."}
+{"task_index": 18, "task": "Using arms, grab the bottle made of smooth plastic and put it in the black dustbin, repeat for the cylindrical bottle and the black soda bottle with white top."}
+{"task_index": 19, "task": "Take the yellow bottle body with tapered neck, the clear bottle with blue sections, and the black soda bottle with white top and place them into the black garbage bin on the left."}
+{"task_index": 20, "task": "Move the medium yellow cylindrical bottle to the black bin with white liner, then the smooth transparent plastic bottle, and finally the smooth plastic bottle."}
+{"task_index": 21, "task": "With arms, place the yellow liquid container with green top, the bottle with turquoise cap, and the black soda bottle with white top into the black bin with white liner step by step."}
+{"task_index": 22, "task": "Drop the medium plastic bottle with tapered neck, the medium-sized water bottle, and the red-labeled soda bottle into the dustbin with lid and bag, handling them one at a time."}
+{"task_index": 23, "task": "Pick the yellow bottle and move it into the black dustbin, repeat for the cylindrical bottle and the hand-sized drinking bottle."}
+{"task_index": 24, "task": "Place the smooth yellow bottle with ridged cap, the bottle with turquoise cap, and the bottle with curved body shape, one at a time, into the black dustbin."}
+{"task_index": 25, "task": "Drop the medium plastic bottle with tapered neck, the bottle with ribbed design, and the black and red bottle into the black dustbin, handling them one at a time."}
+{"task_index": 26, "task": "Using arms, grab the cylindrical yellow bottle for holding liquids and put it in the medium-sized black plastic dustbin, repeat for the transparent bottle and the red-labeled soda bottle."}
+{"task_index": 27, "task": "Grab the bottle with small ridged green cap, drop it in the black and white trash holder, do the same for the bottle with ribbed design and the drink bottle with slim neck."}
+{"task_index": 28, "task": "Take the yellow liquid container with green top, the medium-sized water bottle, and the black bottle with red label one at a time and place them into the smooth black dustbin."}
+{"task_index": 29, "task": "Place the bottle made of smooth plastic, the smooth transparent plastic bottle, and the red and black beverage bottle in the dustbin with lid and bag using the arms."}
+{"task_index": 30, "task": "Carry the cylindrical yellow bottle for holding liquids first, drop it into the black dustbin, repeat with the clear bottle with blue sections and the red bottle."}
+{"task_index": 31, "task": "Move the medium plastic bottle with tapered neck, the bottle for holding liquids, and the black soda bottle with white top into the black dustbin one by one."}
+{"task_index": 32, "task": "Pick up the smooth yellow bottle with ridged cap, the clear bottle with blue sections, and the black bottle with red label, moving them one by one into the black dustbin."}
+{"task_index": 33, "task": "Place the medium yellow cylindrical bottle, the medium-sized water bottle, and the black and red bottle into the black bin with white liner after taking them individually."}
+{"task_index": 34, "task": "Place the medium yellow cylindrical bottle, the blue-accented cylindrical bottle, and the rounded bottle with a white neck into the trash bin after taking them individually."}
+{"task_index": 35, "task": "Pick up the yellow bottle with smooth texture, the medium-sized water bottle, and the bottle with curved body shape, moving them one by one into the black and white trash holder."}
+{"task_index": 36, "task": "Grab the bottle made of smooth plastic, put it in the medium-sized black plastic dustbin, follow by moving the bottle for holding liquids and the black soda bottle with white top there too."}
+{"task_index": 37, "task": "Put the yellow bottle into the black bin with white liner, followed by the hand-sized bottle and the bottle with curved body shape."}
+{"task_index": 38, "task": "Grab the medium plastic bottle with tapered neck and the hand-sized bottle, put them into the black dustbin, and repeat for the drink bottle with slim neck."}
+{"task_index": 39, "task": "Carefully grab the yellow bottle body with tapered neck, the bottle with turquoise cap, and the rounded bottle with a white neck and position them in the medium black garbage container."}
+{"task_index": 40, "task": "Start with the medium yellow cylindrical bottle, grab it and drop it into the medium black garbage container, repeat for the water bottle with textured body and the red and black beverage bottle."}
+{"task_index": 41, "task": "Use arms to pick the bottle with small ridged green cap, the bottle with narrow neck, the drink bottle with slim neck, and place them one by one in the black garbage bin."}
+{"task_index": 42, "task": "Lift the cylindrical yellow bottle for holding liquids, the cylindrical bottle, and the hand-sized drinking bottle, dropping each into the plastic dustbin sequentially."}
+{"task_index": 43, "task": "Pick the cylindrical yellow bottle for holding liquids and move it into the dustbin with white inner bag, repeat for the cylindrical bottle and the red bottle."}
+{"task_index": 44, "task": "Using arms, pick up the yellow liquid container with green top, the bottle with narrow neck, and the hand-sized drinking bottle, dropping each into the smooth black dustbin."}
+{"task_index": 45, "task": "Pick the yellow liquid container with green top, drop it into the plastic dustbin, then move the bottle with turquoise cap and the black and red bottle into the plastic dustbin."}
+{"task_index": 46, "task": "Use arms to pick the yellow liquid container with green top, the transparent bottle, the red bottle, and place them one by one in the black bin with white liner."}
+{"task_index": 47, "task": "Grab the smooth yellow bottle with ridged cap, the bottle with narrow neck, and the bottle with curved body shape sequentially, placing each into the black garbage bin."}
+{"task_index": 48, "task": "Pick the green-striped cap on yellow bottle, the bottle with turquoise cap, and the plastic bottle with red cap from the table and place them inside the black and white trash holder."}
+{"task_index": 49, "task": "Pick the yellow bottle, the hand-sized bottle, and the red-labeled soda bottle one at a time and put them into the dustbin with lid and bag."}
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