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+{"episode_index": 0, "tasks": ["Grab the medium mug smooth rounded handle, turn it around, put it back, then attach it to the dark gray rack."], "length": 340}
+{"episode_index": 1, "tasks": ["Take the cylindrical mug with black finish from the table, spin it, place it in the center, then hang it on the smooth rack."], "length": 357}
+{"episode_index": 2, "tasks": ["Grab the brown medium-sized ceramic mug, turn it around, put it back, then attach it to the angular rack with slanted support rod."], "length": 351}
+{"episode_index": 3, "tasks": ["Lift the black ceramic mug, rotate it, put it down in the table's center, then hang it onto the metallic angular rack with rod pair."], "length": 343}
+{"episode_index": 4, "tasks": ["With the left arm, pick the hand-sized mug with blue artwork, rotate it, place it, then hang it onto the medium rack with protruding rods."], "length": 334}
+{"episode_index": 5, "tasks": ["Use the left arm to grab the cylindrical mug with curved handle, rotate it, place it in the middle, then use the right arm to hang it onto the smooth rack."], "length": 335}
+{"episode_index": 6, "tasks": ["Use the left arm to pick the medium white mug with handle, turn it, place it, then hang on the dark gray angled rack."], "length": 342}
+{"episode_index": 7, "tasks": ["Use your left arm to grab the curved handle mug, rotate it, set it down, then hang on the metallic angular rack with rod pair."], "length": 333}
+{"episode_index": 8, "tasks": ["Take the ceramic mug with cartoons from the table, turn it, set it down, and attach it to the rack with two rods sticking out."], "length": 334}
+{"episode_index": 9, "tasks": ["Pick the mug with rounded handle, turn it, put it in the center, and transfer it to the rack with two rods sticking out."], "length": 334}
+{"episode_index": 10, "tasks": ["With the left arm, pick the cylindrical beige ceramic mug, rotate it, place it, then hang it onto the rack with two rods sticking out."], "length": 331}
+{"episode_index": 11, "tasks": ["With the left arm, grab the black mug with handle, spin it, place it down, then use the right arm to hang it on the smooth dark gray rack."], "length": 336}
+{"episode_index": 12, "tasks": ["Use your left arm to grab the beige mug polished ceramic build, rotate it, place it in the middle, then use the right arm to hang it onto the smooth rack."], "length": 342}
+{"episode_index": 13, "tasks": ["Using the left arm, pick the dark green ceramic cup, turn it, place it down, and hang it on the dark gray angled rack."], "length": 336}
+{"episode_index": 14, "tasks": ["Lift the blue mug with solid texture from the table, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair."], "length": 352}
+{"episode_index": 15, "tasks": ["Use the left arm to pick the mug with rounded handle, turn it, place it, then hang on the metal rack."], "length": 343}
+{"episode_index": 16, "tasks": ["Take the glossy black mug medium-sized for drinking, rotate it, place it back on the table, and hang it on the smooth dark gray rack afterward."], "length": 337}
+{"episode_index": 17, "tasks": ["Using the left arm, pick the palm-sized mug glossy black body, turn it, place it down, and hang it on the metal rack."], "length": 354}
+{"episode_index": 18, "tasks": ["Grab the brown mug, rotate it, place it in the middle, and hang it onto the metallic angular rack with rod pair."], "length": 336}
+{"episode_index": 19, "tasks": ["Lift the ceramic mug, turn it around, set it in the middle, and place it on the rack with two rods sticking out."], "length": 327}
+{"episode_index": 20, "tasks": ["Using your left arm, lift the mug with round handle, rotate it, place it down, then your right arm to hang it onto the metal rack."], "length": 347}
+{"episode_index": 21, "tasks": ["Use the right arm to lift the ceramic mug, rotate it, and attach it to the rack with angular body after setting it down."], "length": 333}
+{"episode_index": 22, "tasks": ["Grab the smooth white mug from the table, rotate it, place it, and hang it onto the dark gray angled rack."], "length": 334}
+{"episode_index": 23, "tasks": ["Lift the medium beige mug, give it a turn, and hang it onto the dark gray angled rack."], "length": 331}
+{"episode_index": 24, "tasks": ["Pick the drinking mug with smooth body from the table, rotate it, place it, and then hang it onto the metallic angular rack with rod pair."], "length": 335}
+{"episode_index": 25, "tasks": ["Use the right arm to lift the mug with prints, rotate it, and attach it to the smooth rack after setting it down."], "length": 333}
+{"episode_index": 26, "tasks": ["Lift the medium mug smooth rounded handle, turn it, place it back, and move it onto the dark gray angled rack with the right arm."], "length": 356}
+{"episode_index": 27, "tasks": ["Take the medium light mug from the table, spin it, place it in the center, then hang it on the angular rack with slanted support rod."], "length": 331}
+{"episode_index": 28, "tasks": ["Grab the black mug with handle from the table, rotate it, place it, and hang it onto the metallic angular rack with rod pair."], "length": 337}
+{"episode_index": 29, "tasks": ["Lift the smooth white mug from the table, turn it, put it down in the middle, then hang it onto the rack with angular body."], "length": 336}
+{"episode_index": 30, "tasks": ["Use the right arm to lift the white ceramic mug with handle, rotate it, and attach it to the smooth rack after setting it down."], "length": 336}
+{"episode_index": 31, "tasks": ["Pick the mug with blue print up, twist it, place it back, then hang it onto the metallic rack with smooth finish."], "length": 339}
+{"episode_index": 32, "tasks": ["Grab the black ceramic mug, rotate it, place it in the middle, and hang it onto the medium rack with protruding rods."], "length": 373}
+{"episode_index": 33, "tasks": ["Use the left arm to pick the starbucks green mug, turn it, place it, then hang on the metal rack."], "length": 328}
+{"episode_index": 34, "tasks": ["Pick the hand-sized mug with blue artwork, turn it, put it in the center, and transfer it to the dark gray angled rack."], "length": 333}
+{"episode_index": 35, "tasks": ["Use the left arm to pick the ceramic mug, turn it, place it, then hang on the metallic angular rack with rod pair."], "length": 325}
+{"episode_index": 36, "tasks": ["Using the left arm, pick the ceramic mug, turn it, place it down, and hang it on the dark gray rack."], "length": 341}
+{"episode_index": 37, "tasks": ["Pick the solid black ceramic mug from the table using one hand, rotate, and hang it on the metallic angular rack with rod pair."], "length": 330}
+{"episode_index": 38, "tasks": ["Use one arm to grab the hand-sized ceramic mug, turn it, set it centrally, and use the other to hang it onto the smooth rack."], "length": 342}
+{"episode_index": 39, "tasks": ["Pick the white mug with rounded handle from the table using one hand, rotate, and hang it on the medium rack with protruding rods."], "length": 328}
+{"episode_index": 40, "tasks": ["Use the left arm to lift the glossy beige ceramic drinking mug, rotate it, put it down, then hook onto the angled rack with long and short rods."], "length": 332}
+{"episode_index": 41, "tasks": ["Grab the mug with thick sturdy handle from the table, rotate it, place it, and hang it onto the smooth dark gray rack."], "length": 337}
+{"episode_index": 42, "tasks": ["Pick the medium mug smooth rounded handle up, twist it, place it back, then hang it onto the dark gray rack."], "length": 338}
+{"episode_index": 43, "tasks": ["Lift the hand-sized mug with blue artwork from the table, turn it, put it down in the middle, then hang it onto the angular rack with slanted support rod."], "length": 332}
+{"episode_index": 44, "tasks": ["With the left arm, grab the basic mug in solid white, spin it, place it down, then use the right arm to hang it on the rack with angular body."], "length": 340}
+{"episode_index": 45, "tasks": ["Grab the cylindrical mug made of ceramic, rotate it, place it in the middle, and hang it on the angled rack with long and short rods."], "length": 335}
+{"episode_index": 46, "tasks": ["Grab the medium beige mug, turn it around, put it back, then attach it to the rack with angular body."], "length": 332}
+{"episode_index": 47, "tasks": ["With the left arm, grab the logo mug, spin it, place it down, then use the right arm to hang it on the metal rack."], "length": 333}
+{"episode_index": 48, "tasks": ["Take the hand-sized mug with blue artwork, rotate it, place it in the center, then hang it on the dark gray angled rack."], "length": 334}
+{"episode_index": 49, "tasks": ["Use your left arm to grab the smooth dark green mug, rotate it, set it down, then hang on the rack with two rods sticking out."], "length": 331}
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diff --git a/robotwin_hanging_mug_demo_clean_50/meta/info.json b/robotwin_hanging_mug_demo_clean_50/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..943edf30b880b8953d20f6c1b370e06caabe129f
--- /dev/null
+++ b/robotwin_hanging_mug_demo_clean_50/meta/info.json
@@ -0,0 +1,170 @@
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\ No newline at end of file
diff --git a/robotwin_hanging_mug_demo_clean_50/meta/tasks.jsonl b/robotwin_hanging_mug_demo_clean_50/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9ad506a2aebc7eed63d7bbc4cfc359ab7b53c170
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@@ -0,0 +1,50 @@
+{"task_index": 0, "task": "Grab the medium mug smooth rounded handle, turn it around, put it back, then attach it to the dark gray rack."}
+{"task_index": 1, "task": "Take the cylindrical mug with black finish from the table, spin it, place it in the center, then hang it on the smooth rack."}
+{"task_index": 2, "task": "Grab the brown medium-sized ceramic mug, turn it around, put it back, then attach it to the angular rack with slanted support rod."}
+{"task_index": 3, "task": "Lift the black ceramic mug, rotate it, put it down in the table's center, then hang it onto the metallic angular rack with rod pair."}
+{"task_index": 4, "task": "With the left arm, pick the hand-sized mug with blue artwork, rotate it, place it, then hang it onto the medium rack with protruding rods."}
+{"task_index": 5, "task": "Use the left arm to grab the cylindrical mug with curved handle, rotate it, place it in the middle, then use the right arm to hang it onto the smooth rack."}
+{"task_index": 6, "task": "Use the left arm to pick the medium white mug with handle, turn it, place it, then hang on the dark gray angled rack."}
+{"task_index": 7, "task": "Use your left arm to grab the curved handle mug, rotate it, set it down, then hang on the metallic angular rack with rod pair."}
+{"task_index": 8, "task": "Take the ceramic mug with cartoons from the table, turn it, set it down, and attach it to the rack with two rods sticking out."}
+{"task_index": 9, "task": "Pick the mug with rounded handle, turn it, put it in the center, and transfer it to the rack with two rods sticking out."}
+{"task_index": 10, "task": "With the left arm, pick the cylindrical beige ceramic mug, rotate it, place it, then hang it onto the rack with two rods sticking out."}
+{"task_index": 11, "task": "With the left arm, grab the black mug with handle, spin it, place it down, then use the right arm to hang it on the smooth dark gray rack."}
+{"task_index": 12, "task": "Use your left arm to grab the beige mug polished ceramic build, rotate it, place it in the middle, then use the right arm to hang it onto the smooth rack."}
+{"task_index": 13, "task": "Using the left arm, pick the dark green ceramic cup, turn it, place it down, and hang it on the dark gray angled rack."}
+{"task_index": 14, "task": "Lift the blue mug with solid texture from the table, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair."}
+{"task_index": 15, "task": "Use the left arm to pick the mug with rounded handle, turn it, place it, then hang on the metal rack."}
+{"task_index": 16, "task": "Take the glossy black mug medium-sized for drinking, rotate it, place it back on the table, and hang it on the smooth dark gray rack afterward."}
+{"task_index": 17, "task": "Using the left arm, pick the palm-sized mug glossy black body, turn it, place it down, and hang it on the metal rack."}
+{"task_index": 18, "task": "Grab the brown mug, rotate it, place it in the middle, and hang it onto the metallic angular rack with rod pair."}
+{"task_index": 19, "task": "Lift the ceramic mug, turn it around, set it in the middle, and place it on the rack with two rods sticking out."}
+{"task_index": 20, "task": "Using your left arm, lift the mug with round handle, rotate it, place it down, then your right arm to hang it onto the metal rack."}
+{"task_index": 21, "task": "Use the right arm to lift the ceramic mug, rotate it, and attach it to the rack with angular body after setting it down."}
+{"task_index": 22, "task": "Grab the smooth white mug from the table, rotate it, place it, and hang it onto the dark gray angled rack."}
+{"task_index": 23, "task": "Lift the medium beige mug, give it a turn, and hang it onto the dark gray angled rack."}
+{"task_index": 24, "task": "Pick the drinking mug with smooth body from the table, rotate it, place it, and then hang it onto the metallic angular rack with rod pair."}
+{"task_index": 25, "task": "Use the right arm to lift the mug with prints, rotate it, and attach it to the smooth rack after setting it down."}
+{"task_index": 26, "task": "Lift the medium mug smooth rounded handle, turn it, place it back, and move it onto the dark gray angled rack with the right arm."}
+{"task_index": 27, "task": "Take the medium light mug from the table, spin it, place it in the center, then hang it on the angular rack with slanted support rod."}
+{"task_index": 28, "task": "Grab the black mug with handle from the table, rotate it, place it, and hang it onto the metallic angular rack with rod pair."}
+{"task_index": 29, "task": "Lift the smooth white mug from the table, turn it, put it down in the middle, then hang it onto the rack with angular body."}
+{"task_index": 30, "task": "Use the right arm to lift the white ceramic mug with handle, rotate it, and attach it to the smooth rack after setting it down."}
+{"task_index": 31, "task": "Pick the mug with blue print up, twist it, place it back, then hang it onto the metallic rack with smooth finish."}
+{"task_index": 32, "task": "Grab the black ceramic mug, rotate it, place it in the middle, and hang it onto the medium rack with protruding rods."}
+{"task_index": 33, "task": "Use the left arm to pick the starbucks green mug, turn it, place it, then hang on the metal rack."}
+{"task_index": 34, "task": "Pick the hand-sized mug with blue artwork, turn it, put it in the center, and transfer it to the dark gray angled rack."}
+{"task_index": 35, "task": "Use the left arm to pick the ceramic mug, turn it, place it, then hang on the metallic angular rack with rod pair."}
+{"task_index": 36, "task": "Using the left arm, pick the ceramic mug, turn it, place it down, and hang it on the dark gray rack."}
+{"task_index": 37, "task": "Pick the solid black ceramic mug from the table using one hand, rotate, and hang it on the metallic angular rack with rod pair."}
+{"task_index": 38, "task": "Use one arm to grab the hand-sized ceramic mug, turn it, set it centrally, and use the other to hang it onto the smooth rack."}
+{"task_index": 39, "task": "Pick the white mug with rounded handle from the table using one hand, rotate, and hang it on the medium rack with protruding rods."}
+{"task_index": 40, "task": "Use the left arm to lift the glossy beige ceramic drinking mug, rotate it, put it down, then hook onto the angled rack with long and short rods."}
+{"task_index": 41, "task": "Grab the mug with thick sturdy handle from the table, rotate it, place it, and hang it onto the smooth dark gray rack."}
+{"task_index": 42, "task": "Pick the medium mug smooth rounded handle up, twist it, place it back, then hang it onto the dark gray rack."}
+{"task_index": 43, "task": "Lift the hand-sized mug with blue artwork from the table, turn it, put it down in the middle, then hang it onto the angular rack with slanted support rod."}
+{"task_index": 44, "task": "With the left arm, grab the basic mug in solid white, spin it, place it down, then use the right arm to hang it on the rack with angular body."}
+{"task_index": 45, "task": "Grab the cylindrical mug made of ceramic, rotate it, place it in the middle, and hang it on the angled rack with long and short rods."}
+{"task_index": 46, "task": "Grab the medium beige mug, turn it around, put it back, then attach it to the rack with angular body."}
+{"task_index": 47, "task": "With the left arm, grab the logo mug, spin it, place it down, then use the right arm to hang it on the metal rack."}
+{"task_index": 48, "task": "Take the hand-sized mug with blue artwork, rotate it, place it in the center, then hang it on the dark gray angled rack."}
+{"task_index": 49, "task": "Use your left arm to grab the smooth dark green mug, rotate it, set it down, then hang on the rack with two rods sticking out."}
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