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+{"episode_index": 119, "tasks": ["Use the arm to slide the cup with smooth plastic surface onto the coaster made of smooth wood."], "length": 166}
+{"episode_index": 120, "tasks": ["Grab the blue rounded-bottom cup and set it onto the light gray round grainy coaster."], "length": 172}
+{"episode_index": 121, "tasks": ["Stick the smooth blue cup for liquids onto the grainy texture coaster using the arm."], "length": 167}
+{"episode_index": 122, "tasks": ["Make sure the cylindrical light blue cup ends up on the flat surface gray wooden coaster."], "length": 168}
+{"episode_index": 123, "tasks": ["Align the medium blue cylindrical cup and set it down on the small coaster with grain texture"], "length": 174}
+{"episode_index": 124, "tasks": ["Move the cup for holding liquids using the arm onto the coaster made of smooth wood."], "length": 173}
+{"episode_index": 125, "tasks": ["Using the arm, drop the cup with smooth plastic surface onto the light gray streaked wooden coaster."], "length": 172}
+{"episode_index": 126, "tasks": ["Use the arm to slide the cup for holding liquids onto the smooth round palm-sized coaster."], "length": 170}
+{"episode_index": 127, "tasks": ["Lift the smooth blue cup for liquids and place it onto the round coaster."], "length": 183}
+{"episode_index": 128, "tasks": ["Set the blue rounded-bottom cup down on the coaster with circular shape"], "length": 175}
+{"episode_index": 129, "tasks": ["Lift the cup for holding liquids and place it onto the round coaster with light streaks."], "length": 173}
+{"episode_index": 130, "tasks": ["Align the light blue plastic cup and set it down on the coaster with circular shape"], "length": 168}
+{"episode_index": 131, "tasks": ["Position the plastic cup for drinks squarely on top of the light gray round grainy coaster."], "length": 169}
+{"episode_index": 132, "tasks": ["Grab the medium-sized plastic blue cup and set it onto the round coaster with light streaks."], "length": 169}
+{"episode_index": 133, "tasks": ["Set the smooth blue drinking cup down on the coaster made of smooth wood"], "length": 167}
+{"episode_index": 134, "tasks": ["Move the cup with smooth plastic surface onto the light gray round grainy coaster with the arm"], "length": 181}
+{"episode_index": 135, "tasks": ["Using the arm, slide the plastic cup for drinks onto the wooden coaster."], "length": 174}
+{"episode_index": 136, "tasks": ["Grab the cylindrical light blue cup and lower it onto the flat surface gray wooden coaster"], "length": 170}
+{"episode_index": 137, "tasks": ["Stick the medium blue cylindrical cup onto the round coaster with light streaks carefully."], "length": 169}
+{"episode_index": 138, "tasks": ["Lift the blue rounded-bottom cup and place it over the wooden coaster"], "length": 173}
+{"episode_index": 139, "tasks": ["Pick the medium blue cylindrical cup up and drop it on the round coaster."], "length": 181}
+{"episode_index": 140, "tasks": ["Lift the plastic cup for drinks up and drop it on the smooth round palm-sized coaster."], "length": 171}
+{"episode_index": 141, "tasks": ["Using the arm, align the blue rounded-bottom cup over the light gray streaked wooden coaster"], "length": 167}
+{"episode_index": 142, "tasks": ["Move the medium blue cylindrical cup to the flat round wooden coaster and set it down."], "length": 179}
+{"episode_index": 143, "tasks": ["Align the medium-sized plastic blue cup and set it down on the wooden coaster"], "length": 173}
+{"episode_index": 144, "tasks": ["Slide the medium-sized plastic blue cup onto the wooden coaster with the arm."], "length": 169}
+{"episode_index": 145, "tasks": ["Position the medium-sized plastic blue cup above and drop it on the light gray streaked wooden coaster"], "length": 174}
+{"episode_index": 146, "tasks": ["Relocate the cylindrical light blue cup precisely onto the flat round wooden coaster with arm"], "length": 164}
+{"episode_index": 147, "tasks": ["Use the arm to position the medium-sized plastic blue cup on the wooden coaster."], "length": 172}
+{"episode_index": 148, "tasks": ["Grab the blue rounded-bottom cup and lower it onto the light gray round grainy coaster"], "length": 170}
+{"episode_index": 149, "tasks": ["Lift the plastic cup for drinks up and drop it on the light gray streaked wooden coaster."], "length": 184}
+{"episode_index": 150, "tasks": ["Set the medium blue cylindrical cup onto the grainy texture coaster using the arm."], "length": 169}
+{"episode_index": 151, "tasks": ["Slide the cup for holding liquids onto the coaster made of smooth wood"], "length": 181}
+{"episode_index": 152, "tasks": ["Set the plastic cup for drinks on the round coaster with light streaks using the arm."], "length": 170}
+{"episode_index": 153, "tasks": ["Set the cup with light blue color on the round coaster with light streaks using the arm."], "length": 169}
+{"episode_index": 154, "tasks": ["Stick the cup for holding liquids onto the smooth round palm-sized coaster using the arm"], "length": 171}
+{"episode_index": 155, "tasks": ["Move the cup with light blue color using the arm onto the wooden coaster."], "length": 172}
+{"episode_index": 156, "tasks": ["Direct the smooth blue cup for liquids to the flat round wooden coaster and let it rest."], "length": 180}
+{"episode_index": 157, "tasks": ["Position the blue rounded-bottom cup squarely on top of the coaster made of smooth wood."], "length": 163}
+{"episode_index": 158, "tasks": ["Place the blue rounded-bottom cup on top of the flat round wooden coaster"], "length": 182}
+{"episode_index": 159, "tasks": ["Drop the cup with smooth plastic surface firmly on the flat surface gray wooden coaster using arm"], "length": 178}
+{"episode_index": 160, "tasks": ["Use the arm to set the smooth blue drinking cup on the flat surface gray wooden coaster"], "length": 174}
+{"episode_index": 161, "tasks": ["Use the arm to position the rounded base blue cup onto the wooden coaster."], "length": 188}
+{"episode_index": 162, "tasks": ["Using the arm, align the smooth blue cup for liquids over the round coaster with light streaks"], "length": 170}
+{"episode_index": 163, "tasks": ["Align the cup with light blue color and set it down on the flat round wooden coaster"], "length": 179}
+{"episode_index": 164, "tasks": ["Using the arm, align the cylindrical light blue cup over the grainy texture coaster"], "length": 169}
+{"episode_index": 165, "tasks": ["Move the cup with smooth plastic surface using the arm onto the small coaster with grain texture."], "length": 167}
+{"episode_index": 166, "tasks": ["Lift the plastic cup for drinks up and drop it on the light gray round grainy coaster."], "length": 174}
+{"episode_index": 167, "tasks": ["Lift the blue rounded-bottom cup up and drop it on the flat surface gray wooden coaster."], "length": 168}
+{"episode_index": 168, "tasks": ["Using the arm, slide the plastic cup for drinks onto the round coaster with light streaks."], "length": 170}
+{"episode_index": 169, "tasks": ["Using the arm, drop the smooth blue cup for liquids onto the light gray streaked wooden coaster."], "length": 171}
+{"episode_index": 170, "tasks": ["Grab the cylindrical light blue cup and lower it onto the round coaster with light streaks"], "length": 173}
+{"episode_index": 171, "tasks": ["Using the arm, slide the blue rounded-bottom cup onto the coaster made of smooth wood."], "length": 166}
+{"episode_index": 172, "tasks": ["Move the light blue plastic cup onto the coaster with circular shape with the arm"], "length": 171}
+{"episode_index": 173, "tasks": ["Use arm to place the smooth blue drinking cup on the round coaster with light streaks"], "length": 176}
+{"episode_index": 174, "tasks": ["Use the arm to set the plastic cup for drinks on the flat round wooden coaster"], "length": 169}
+{"episode_index": 175, "tasks": ["Carefully place the medium-sized plastic blue cup onto the smooth round palm-sized coaster without arm"], "length": 169}
+{"episode_index": 176, "tasks": ["Pick the smooth blue drinking cup up and drop it on the coaster with circular shape."], "length": 170}
+{"episode_index": 177, "tasks": ["Relocate the light blue plastic cup precisely onto the small coaster with grain texture with arm"], "length": 167}
+{"episode_index": 178, "tasks": ["Use the arm to position the cup with smooth plastic surface onto the flat surface gray wooden coaster."], "length": 180}
+{"episode_index": 179, "tasks": ["Move the plastic cup for drinks onto the round coaster with light streaks with the arm"], "length": 172}
+{"episode_index": 180, "tasks": ["Move the cup for holding liquids to the flat round wooden coaster and set it down."], "length": 164}
+{"episode_index": 181, "tasks": ["Stick the cup with smooth plastic surface onto the light gray streaked wooden coaster carefully."], "length": 169}
+{"episode_index": 182, "tasks": ["Using the arm, slide the cylindrical light blue cup onto the flat surface gray wooden coaster."], "length": 169}
+{"episode_index": 183, "tasks": ["Use the arm to position the cylindrical light blue cup on the flat surface gray wooden coaster."], "length": 175}
+{"episode_index": 184, "tasks": ["Lift the cup with light blue color and place it over the flat round wooden coaster"], "length": 171}
+{"episode_index": 185, "tasks": ["Position the cup with smooth plastic surface squarely on top of the small coaster with grain texture."], "length": 167}
+{"episode_index": 186, "tasks": ["Set the medium blue cylindrical cup down on the coaster with circular shape"], "length": 171}
+{"episode_index": 187, "tasks": ["Grab the cup with smooth plastic surface and place it on the flat surface gray wooden coaster."], "length": 167}
+{"episode_index": 188, "tasks": ["Use an arm to drop the rounded base blue cup on the coaster with circular shape"], "length": 175}
+{"episode_index": 189, "tasks": ["Place the medium blue cylindrical cup on top of the flat surface gray wooden coaster"], "length": 170}
+{"episode_index": 190, "tasks": ["Using the arm, align the medium blue cylindrical cup over the coaster with circular shape"], "length": 167}
+{"episode_index": 191, "tasks": ["Use an arm to drop the blue rounded-bottom cup on the round coaster."], "length": 181}
+{"episode_index": 192, "tasks": ["Make sure the blue rounded-bottom cup ends up on the wooden coaster."], "length": 174}
+{"episode_index": 193, "tasks": ["Carefully place the rounded base blue cup onto the round coaster without arm"], "length": 174}
+{"episode_index": 194, "tasks": ["Carefully place the cup with light blue color onto the flat round wooden coaster without arm"], "length": 182}
+{"episode_index": 195, "tasks": ["Use the arm to slide the smooth blue drinking cup onto the light gray round grainy coaster."], "length": 165}
+{"episode_index": 196, "tasks": ["Use an arm to place the rounded base blue cup on the flat round wooden coaster"], "length": 167}
+{"episode_index": 197, "tasks": ["Use the arm to position the cup for holding liquids onto the coaster with circular shape."], "length": 175}
+{"episode_index": 198, "tasks": ["Lift the rounded base blue cup and place it over the light gray streaked wooden coaster"], "length": 172}
+{"episode_index": 199, "tasks": ["Use an arm to drop the cup with smooth plastic surface on the wooden coaster."], "length": 171}
+{"episode_index": 200, "tasks": ["Slide the smooth blue cup for liquids onto the light gray round grainy coaster with the arm."], "length": 170}
+{"episode_index": 201, "tasks": ["Grab the smooth blue cup for liquids and lower it onto the flat surface gray wooden coaster"], "length": 171}
+{"episode_index": 202, "tasks": ["Direct the smooth blue cup for liquids to the flat surface gray wooden coaster and let it rest."], "length": 170}
+{"episode_index": 203, "tasks": ["Move the cup with smooth plastic surface to the grainy texture coaster and set it down."], "length": 170}
+{"episode_index": 204, "tasks": ["Position the smooth blue drinking cup squarely on top of the round coaster."], "length": 172}
+{"episode_index": 205, "tasks": ["Move the medium blue cylindrical cup onto the smooth round palm-sized coaster with the arm"], "length": 178}
+{"episode_index": 206, "tasks": ["Use the arm to position the blue rounded-bottom cup onto the coaster with circular shape."], "length": 171}
+{"episode_index": 207, "tasks": ["Grab the cylindrical light blue cup and set it onto the round coaster with light streaks."], "length": 167}
+{"episode_index": 208, "tasks": ["Use an arm to place the cylindrical light blue cup on the grainy texture coaster"], "length": 169}
+{"episode_index": 209, "tasks": ["Position the cup for holding liquids above and drop it on the coaster made of smooth wood"], "length": 172}
+{"episode_index": 210, "tasks": ["Slide the cylindrical light blue cup gently onto the smooth round palm-sized coaster via the arm."], "length": 166}
+{"episode_index": 211, "tasks": ["Slide the rounded base blue cup onto the round coaster with light streaks with the arm."], "length": 174}
+{"episode_index": 212, "tasks": ["Make sure the cup with smooth plastic surface ends up on the round coaster with light streaks."], "length": 173}
+{"episode_index": 213, "tasks": ["Drop the light blue plastic cup on top of the flat round wooden coaster."], "length": 168}
+{"episode_index": 214, "tasks": ["Set the light blue plastic cup down on the grainy texture coaster"], "length": 173}
+{"episode_index": 215, "tasks": ["Use the arm to slide the cylindrical light blue cup onto the light gray streaked wooden coaster."], "length": 173}
+{"episode_index": 216, "tasks": ["Grab the smooth blue drinking cup and place it over the flat round wooden coaster."], "length": 171}
+{"episode_index": 217, "tasks": ["Lift the light blue plastic cup up and drop it on the flat surface gray wooden coaster."], "length": 173}
+{"episode_index": 218, "tasks": ["Make sure the cup with light blue color ends up on the small coaster with grain texture."], "length": 174}
+{"episode_index": 219, "tasks": ["Using the arm, align the smooth blue drinking cup over the light gray round grainy coaster"], "length": 167}
+{"episode_index": 220, "tasks": ["Set the cup for holding liquids down on the small coaster with grain texture"], "length": 173}
+{"episode_index": 221, "tasks": ["Move the medium-sized plastic blue cup to the coaster with circular shape using the arm."], "length": 166}
+{"episode_index": 222, "tasks": ["Position the smooth blue cup for liquids above and drop it on the flat surface gray wooden coaster"], "length": 176}
+{"episode_index": 223, "tasks": ["Use the arm to slide the cylindrical light blue cup onto the grainy texture coaster."], "length": 168}
+{"episode_index": 224, "tasks": ["Using the arm, slide the light blue plastic cup onto the smooth round palm-sized coaster."], "length": 172}
+{"episode_index": 225, "tasks": ["Set the smooth blue drinking cup securely on the coaster made of smooth wood using the arm."], "length": 178}
+{"episode_index": 226, "tasks": ["Slide the plastic cup for drinks gently onto the smooth round palm-sized coaster via the arm."], "length": 174}
+{"episode_index": 227, "tasks": ["Direct the cup with smooth plastic surface to the round coaster with light streaks and let it rest."], "length": 176}
+{"episode_index": 228, "tasks": ["Use the arm to position the smooth blue cup for liquids on the round coaster with light streaks."], "length": 168}
+{"episode_index": 229, "tasks": ["Stick the rounded base blue cup onto the smooth round palm-sized coaster carefully."], "length": 167}
+{"episode_index": 230, "tasks": ["Use the arm to set the blue rounded-bottom cup on the round coaster"], "length": 179}
+{"episode_index": 231, "tasks": ["Use the arm to position the plastic cup for drinks onto the wooden coaster."], "length": 167}
+{"episode_index": 232, "tasks": ["Place the smooth blue cup for liquids on top of the grainy texture coaster"], "length": 166}
+{"episode_index": 233, "tasks": ["Lift the plastic cup for drinks up and drop it on the flat surface gray wooden coaster."], "length": 170}
+{"episode_index": 234, "tasks": ["Move the cup with light blue color to the wooden coaster"], "length": 166}
+{"episode_index": 235, "tasks": ["Set the plastic cup for drinks down on the smooth round palm-sized coaster"], "length": 170}
+{"episode_index": 236, "tasks": ["Position the cup with smooth plastic surface on the flat round wooden coaster with the arm."], "length": 165}
+{"episode_index": 237, "tasks": ["Slide the cylindrical light blue cup onto the light gray streaked wooden coaster"], "length": 167}
+{"episode_index": 238, "tasks": ["Use the arm to set the cup with smooth plastic surface on the light gray streaked wooden coaster"], "length": 172}
+{"episode_index": 239, "tasks": ["Use an arm to drop the plastic cup for drinks on the flat surface gray wooden coaster."], "length": 170}
+{"episode_index": 240, "tasks": ["Move the cup with light blue color to the coaster with circular shape"], "length": 174}
+{"episode_index": 241, "tasks": ["Move the blue rounded-bottom cup to the grainy texture coaster and set it down."], "length": 169}
+{"episode_index": 242, "tasks": ["Place the medium blue cylindrical cup on top of the coaster made of smooth wood"], "length": 172}
+{"episode_index": 243, "tasks": ["Move the blue rounded-bottom cup to the coaster with circular shape"], "length": 180}
+{"episode_index": 244, "tasks": ["Set the smooth blue drinking cup on the flat round wooden coaster using the arm."], "length": 170}
+{"episode_index": 245, "tasks": ["Use the arm to set the cup with smooth plastic surface on the smooth round palm-sized coaster"], "length": 168}
+{"episode_index": 246, "tasks": ["Set the smooth blue cup for liquids on the small coaster with grain texture using the arm."], "length": 169}
+{"episode_index": 247, "tasks": ["Move the cylindrical light blue cup to the coaster made of smooth wood using the arm."], "length": 169}
+{"episode_index": 248, "tasks": ["Grab the cup for holding liquids and lower it onto the round coaster"], "length": 176}
+{"episode_index": 249, "tasks": ["Lift the light blue plastic cup and stick it onto the wooden coaster."], "length": 176}
+{"episode_index": 250, "tasks": ["Pick the cup for holding liquids up and drop it on the light gray streaked wooden coaster."], "length": 168}
+{"episode_index": 251, "tasks": ["Position the smooth blue drinking cup carefully on the coaster with circular shape"], "length": 168}
+{"episode_index": 252, "tasks": ["Move the smooth blue cup for liquids to the wooden coaster"], "length": 169}
+{"episode_index": 253, "tasks": ["Position the rounded base blue cup squarely on top of the round coaster with light streaks."], "length": 170}
+{"episode_index": 254, "tasks": ["Slide the cylindrical light blue cup onto the flat surface gray wooden coaster"], "length": 171}
+{"episode_index": 255, "tasks": ["Set the blue rounded-bottom cup on the wooden coaster using the arm."], "length": 166}
+{"episode_index": 256, "tasks": ["Set the light blue plastic cup on the flat round wooden coaster using the arm."], "length": 170}
+{"episode_index": 257, "tasks": ["Lift the medium blue cylindrical cup and stick it onto the smooth round palm-sized coaster."], "length": 168}
+{"episode_index": 258, "tasks": ["Slide the medium-sized plastic blue cup onto the small coaster with grain texture"], "length": 166}
+{"episode_index": 259, "tasks": ["Slide the medium-sized plastic blue cup onto the wooden coaster"], "length": 170}
+{"episode_index": 260, "tasks": ["Stick the light blue plastic cup onto the grainy texture coaster using the arm"], "length": 165}
+{"episode_index": 261, "tasks": ["Relocate the plastic cup for drinks precisely onto the round coaster with light streaks with arm"], "length": 170}
+{"episode_index": 262, "tasks": ["Use the arm to slide the cup with smooth plastic surface onto the light gray round grainy coaster."], "length": 170}
+{"episode_index": 263, "tasks": ["Pick the rounded base blue cup up and drop it on the grainy texture coaster."], "length": 171}
+{"episode_index": 264, "tasks": ["Lift the smooth blue cup for liquids and stick it onto the flat surface gray wooden coaster."], "length": 186}
+{"episode_index": 265, "tasks": ["Use arm to place the cylindrical light blue cup on the round coaster with light streaks"], "length": 173}
+{"episode_index": 266, "tasks": ["Use the arm to position the plastic cup for drinks on the light gray streaked wooden coaster."], "length": 173}
+{"episode_index": 267, "tasks": ["Position the medium-sized plastic blue cup carefully on the coaster made of smooth wood"], "length": 170}
+{"episode_index": 268, "tasks": ["Set the smooth blue drinking cup securely on the coaster made of smooth wood using the arm."], "length": 172}
+{"episode_index": 269, "tasks": ["Set the light blue plastic cup on the round coaster with light streaks using the arm."], "length": 177}
+{"episode_index": 270, "tasks": ["Move the medium-sized plastic blue cup to the wooden coaster"], "length": 174}
+{"episode_index": 271, "tasks": ["Position the cup for holding liquids squarely on top of the coaster made of smooth wood."], "length": 175}
+{"episode_index": 272, "tasks": ["Set the blue rounded-bottom cup carefully onto the coaster with circular shape"], "length": 165}
+{"episode_index": 273, "tasks": ["Grab the blue rounded-bottom cup and lower it onto the grainy texture coaster"], "length": 168}
+{"episode_index": 274, "tasks": ["Move the rounded base blue cup to the round coaster with light streaks"], "length": 175}
+{"episode_index": 275, "tasks": ["Position the cup with light blue color squarely on top of the round coaster."], "length": 168}
+{"episode_index": 276, "tasks": ["Set the smooth blue cup for liquids carefully onto the flat round wooden coaster"], "length": 170}
+{"episode_index": 277, "tasks": ["Relocate the light blue plastic cup precisely onto the coaster made of smooth wood with arm"], "length": 170}
+{"episode_index": 278, "tasks": ["Grab the cup for holding liquids and lower it onto the round coaster"], "length": 166}
+{"episode_index": 279, "tasks": ["Position the blue rounded-bottom cup above and drop it on the round coaster"], "length": 175}
+{"episode_index": 280, "tasks": ["Slide the cylindrical light blue cup onto the smooth round palm-sized coaster"], "length": 167}
+{"episode_index": 281, "tasks": ["Stick the medium-sized plastic blue cup onto the round coaster with light streaks using the arm"], "length": 178}
+{"episode_index": 282, "tasks": ["Grab the cylindrical light blue cup and place it over the grainy texture coaster."], "length": 172}
+{"episode_index": 283, "tasks": ["Position the medium blue cylindrical cup above and drop it on the flat surface gray wooden coaster"], "length": 172}
+{"episode_index": 284, "tasks": ["Grab the cup for holding liquids and place it over the flat round wooden coaster."], "length": 173}
+{"episode_index": 285, "tasks": ["Set the plastic cup for drinks onto the flat round wooden coaster using the arm."], "length": 167}
+{"episode_index": 286, "tasks": ["Set the plastic cup for drinks on the coaster made of smooth wood using the arm."], "length": 169}
+{"episode_index": 287, "tasks": ["Slide the cylindrical light blue cup gently onto the round coaster via the arm."], "length": 169}
+{"episode_index": 288, "tasks": ["Position the cup with light blue color carefully on the wooden coaster"], "length": 172}
+{"episode_index": 289, "tasks": ["Move the cup for holding liquids using the arm onto the flat surface gray wooden coaster."], "length": 173}
+{"episode_index": 290, "tasks": ["Set the cylindrical light blue cup on the smooth round palm-sized coaster using the arm."], "length": 171}
+{"episode_index": 291, "tasks": ["Use the arm to slide the blue rounded-bottom cup onto the flat surface gray wooden coaster."], "length": 168}
+{"episode_index": 292, "tasks": ["Stick the smooth blue drinking cup onto the light gray streaked wooden coaster carefully."], "length": 176}
+{"episode_index": 293, "tasks": ["Grab the medium blue cylindrical cup and place it on the light gray streaked wooden coaster."], "length": 171}
+{"episode_index": 294, "tasks": ["Set the cup for holding liquids down on the coaster with circular shape"], "length": 169}
+{"episode_index": 295, "tasks": ["Move the cup for holding liquids using the arm onto the flat round wooden coaster."], "length": 173}
+{"episode_index": 296, "tasks": ["Grab the cylindrical light blue cup and set it onto the grainy texture coaster."], "length": 172}
+{"episode_index": 297, "tasks": ["Position the blue rounded-bottom cup squarely on top of the flat surface gray wooden coaster."], "length": 171}
+{"episode_index": 298, "tasks": ["Relocate the cup for holding liquids precisely onto the grainy texture coaster with arm"], "length": 168}
+{"episode_index": 299, "tasks": ["Set the cup for holding liquids carefully onto the grainy texture coaster"], "length": 173}
+{"episode_index": 300, "tasks": ["Lift the cup with smooth plastic surface and place it onto the light gray streaked wooden coaster."], "length": 168}
+{"episode_index": 301, "tasks": ["Slide the rounded base blue cup gently onto the coaster with circular shape via the arm."], "length": 170}
+{"episode_index": 302, "tasks": ["Position the blue rounded-bottom cup on the light gray round grainy coaster with the arm."], "length": 174}
+{"episode_index": 303, "tasks": ["Position the cup with light blue color squarely on top of the round coaster with light streaks."], "length": 168}
+{"episode_index": 304, "tasks": ["Slide the smooth blue cup for liquids onto the light gray round grainy coaster with the arm."], "length": 166}
+{"episode_index": 305, "tasks": ["Grab the smooth blue cup for liquids and place it on the grainy texture coaster."], "length": 168}
+{"episode_index": 306, "tasks": ["Slide the cup with smooth plastic surface onto the wooden coaster"], "length": 169}
+{"episode_index": 307, "tasks": ["Using the arm, drop the medium blue cylindrical cup onto the flat round wooden coaster."], "length": 169}
+{"episode_index": 308, "tasks": ["Carefully place the cup with smooth plastic surface onto the coaster with circular shape without arm"], "length": 171}
+{"episode_index": 309, "tasks": ["Use the arm to position the cup for holding liquids onto the round coaster."], "length": 175}
+{"episode_index": 310, "tasks": ["Position the smooth blue drinking cup above and drop it on the round coaster with light streaks"], "length": 169}
+{"episode_index": 311, "tasks": ["Use an arm to drop the smooth blue cup for liquids on the coaster made of smooth wood"], "length": 175}
+{"episode_index": 312, "tasks": ["Move the light blue plastic cup using the arm onto the wooden coaster."], "length": 173}
+{"episode_index": 313, "tasks": ["Lift the cup with light blue color up and drop it on the flat surface gray wooden coaster."], "length": 177}
+{"episode_index": 314, "tasks": ["Position the medium blue cylindrical cup on the flat surface gray wooden coaster with the arm."], "length": 170}
+{"episode_index": 315, "tasks": ["Move the blue rounded-bottom cup to the smooth round palm-sized coaster and set it down."], "length": 168}
+{"episode_index": 316, "tasks": ["Grab the medium-sized plastic blue cup and set it onto the flat surface gray wooden coaster."], "length": 167}
+{"episode_index": 317, "tasks": ["Stick the cup with smooth plastic surface onto the coaster made of smooth wood carefully."], "length": 167}
+{"episode_index": 318, "tasks": ["Slide the cup with light blue color onto the grainy texture coaster"], "length": 177}
+{"episode_index": 319, "tasks": ["Slide the medium blue cylindrical cup onto the round coaster with light streaks"], "length": 174}
+{"episode_index": 320, "tasks": ["Grab the cup for holding liquids and lower it onto the grainy texture coaster"], "length": 173}
+{"episode_index": 321, "tasks": ["Use the arm to position the cup with smooth plastic surface onto the grainy texture coaster."], "length": 170}
+{"episode_index": 322, "tasks": ["Stick the cup for holding liquids onto the small coaster with grain texture carefully."], "length": 185}
+{"episode_index": 323, "tasks": ["Position the blue rounded-bottom cup on the light gray round grainy coaster with the arm."], "length": 170}
+{"episode_index": 324, "tasks": ["Grab the rounded base blue cup and place it on the round coaster."], "length": 171}
+{"episode_index": 325, "tasks": ["Slide the medium-sized plastic blue cup gently onto the small coaster with grain texture via the arm."], "length": 170}
+{"episode_index": 326, "tasks": ["Set the medium-sized plastic blue cup securely on the coaster made of smooth wood using the arm."], "length": 171}
+{"episode_index": 327, "tasks": ["Use an arm to place the light blue plastic cup on the coaster made of smooth wood"], "length": 172}
+{"episode_index": 328, "tasks": ["Use an arm to drop the cup with smooth plastic surface on the flat surface gray wooden coaster"], "length": 172}
+{"episode_index": 329, "tasks": ["Grab the rounded base blue cup and place it on the light gray round grainy coaster."], "length": 172}
+{"episode_index": 330, "tasks": ["Direct the cup with smooth plastic surface to the flat surface gray wooden coaster and let it rest."], "length": 177}
+{"episode_index": 331, "tasks": ["Grab the smooth blue drinking cup and lower it onto the round coaster with light streaks"], "length": 166}
+{"episode_index": 332, "tasks": ["Set the medium-sized plastic blue cup securely on the flat round wooden coaster using the arm."], "length": 168}
+{"episode_index": 333, "tasks": ["Use the arm to slide the cylindrical light blue cup onto the small coaster with grain texture."], "length": 166}
+{"episode_index": 334, "tasks": ["Move the cup for holding liquids to the light gray round grainy coaster using the arm."], "length": 173}
+{"episode_index": 335, "tasks": ["Use the arm to put the plastic cup for drinks onto the coaster made of smooth wood."], "length": 169}
+{"episode_index": 336, "tasks": ["Use arm to place the plastic cup for drinks on the light gray streaked wooden coaster"], "length": 168}
+{"episode_index": 337, "tasks": ["Stick the medium blue cylindrical cup onto the coaster made of smooth wood carefully."], "length": 175}
+{"episode_index": 338, "tasks": ["Move the medium blue cylindrical cup onto the flat round wooden coaster with the arm"], "length": 168}
+{"episode_index": 339, "tasks": ["Using the arm, drop the medium-sized plastic blue cup onto the coaster with circular shape."], "length": 178}
+{"episode_index": 340, "tasks": ["Lift the cup for holding liquids and stick it onto the smooth round palm-sized coaster."], "length": 169}
+{"episode_index": 341, "tasks": ["Move the medium-sized plastic blue cup to the light gray streaked wooden coaster and set it down."], "length": 171}
+{"episode_index": 342, "tasks": ["Stick the smooth blue drinking cup onto the light gray streaked wooden coaster carefully."], "length": 168}
+{"episode_index": 343, "tasks": ["Move the medium blue cylindrical cup to the light gray round grainy coaster using the arm."], "length": 172}
+{"episode_index": 344, "tasks": ["Set the plastic cup for drinks securely on the wooden coaster using the arm."], "length": 171}
+{"episode_index": 345, "tasks": ["Move the smooth blue drinking cup onto the round coaster with the arm"], "length": 171}
+{"episode_index": 346, "tasks": ["Using the arm, slide the blue rounded-bottom cup onto the coaster with circular shape."], "length": 168}
+{"episode_index": 347, "tasks": ["Use the arm to position the blue rounded-bottom cup on the coaster with circular shape."], "length": 168}
+{"episode_index": 348, "tasks": ["Pick the cup with smooth plastic surface up and drop it on the light gray round grainy coaster."], "length": 172}
+{"episode_index": 349, "tasks": ["Use the arm to position the cup with smooth plastic surface on the flat round wooden coaster."], "length": 179}
+{"episode_index": 350, "tasks": ["Using the arm, drop the medium-sized plastic blue cup onto the flat surface gray wooden coaster."], "length": 171}
+{"episode_index": 351, "tasks": ["Direct the cylindrical light blue cup to the small coaster with grain texture and let it rest."], "length": 170}
+{"episode_index": 352, "tasks": ["Use an arm to place the smooth blue cup for liquids on the light gray round grainy coaster"], "length": 171}
+{"episode_index": 353, "tasks": ["Use an arm to drop the light blue plastic cup on the round coaster"], "length": 164}
+{"episode_index": 354, "tasks": ["Grab the medium-sized plastic blue cup and set it onto the coaster made of smooth wood."], "length": 170}
+{"episode_index": 355, "tasks": ["Drop the smooth blue drinking cup firmly on the wooden coaster using arm"], "length": 176}
+{"episode_index": 356, "tasks": ["Using the arm, slide the medium-sized plastic blue cup onto the smooth round palm-sized coaster."], "length": 168}
+{"episode_index": 357, "tasks": ["Direct the rounded base blue cup to the wooden coaster and let it rest."], "length": 175}
+{"episode_index": 358, "tasks": ["Grab the rounded base blue cup and lower it onto the wooden coaster"], "length": 173}
+{"episode_index": 359, "tasks": ["Place the cup with light blue color on top of the smooth round palm-sized coaster"], "length": 170}
+{"episode_index": 360, "tasks": ["Grab the cup with light blue color and place it over the light gray streaked wooden coaster."], "length": 166}
+{"episode_index": 361, "tasks": ["Use the arm to set the light blue plastic cup on the coaster made of smooth wood"], "length": 175}
+{"episode_index": 362, "tasks": ["Use the arm to set the rounded base blue cup on the round coaster"], "length": 176}
+{"episode_index": 363, "tasks": ["Grab the cup with smooth plastic surface and set it onto the coaster with circular shape."], "length": 172}
+{"episode_index": 364, "tasks": ["Relocate the cup for holding liquids precisely onto the light gray streaked wooden coaster with arm"], "length": 174}
+{"episode_index": 365, "tasks": ["Pick the medium blue cylindrical cup up and drop it on the wooden coaster."], "length": 174}
+{"episode_index": 366, "tasks": ["Grab the plastic cup for drinks and place it over the coaster with circular shape."], "length": 171}
+{"episode_index": 367, "tasks": ["Move the cup with light blue color using the arm onto the round coaster with light streaks."], "length": 173}
+{"episode_index": 368, "tasks": ["Using the arm, slide the light blue plastic cup onto the wooden coaster."], "length": 166}
+{"episode_index": 369, "tasks": ["Lift the cup for holding liquids and place it onto the flat surface gray wooden coaster."], "length": 174}
+{"episode_index": 370, "tasks": ["Position the cup with light blue color squarely on top of the coaster made of smooth wood."], "length": 168}
+{"episode_index": 371, "tasks": ["Position the cylindrical light blue cup on the round coaster with the arm."], "length": 166}
+{"episode_index": 372, "tasks": ["Lift the cup with smooth plastic surface and place it over the small coaster with grain texture"], "length": 173}
+{"episode_index": 373, "tasks": ["Grab the medium blue cylindrical cup and lower it onto the light gray round grainy coaster"], "length": 168}
+{"episode_index": 374, "tasks": ["Position the plastic cup for drinks carefully on the light gray streaked wooden coaster"], "length": 171}
+{"episode_index": 375, "tasks": ["Relocate the rounded base blue cup precisely onto the coaster with circular shape with arm"], "length": 175}
+{"episode_index": 376, "tasks": ["Set the medium-sized plastic blue cup securely on the grainy texture coaster using the arm."], "length": 169}
+{"episode_index": 377, "tasks": ["Set the medium blue cylindrical cup down on the round coaster with light streaks"], "length": 170}
+{"episode_index": 378, "tasks": ["Position the cup with smooth plastic surface on the small coaster with grain texture with the arm."], "length": 175}
+{"episode_index": 379, "tasks": ["Align the cup with smooth plastic surface and set it down on the light gray streaked wooden coaster"], "length": 178}
+{"episode_index": 380, "tasks": ["Drop the smooth blue cup for liquids on top of the round coaster."], "length": 177}
+{"episode_index": 381, "tasks": ["Grab the blue rounded-bottom cup and place it over the flat round wooden coaster."], "length": 167}
+{"episode_index": 382, "tasks": ["Lift the medium blue cylindrical cup up and drop it on the small coaster with grain texture."], "length": 174}
+{"episode_index": 383, "tasks": ["Position the medium-sized plastic blue cup squarely on top of the light gray streaked wooden coaster."], "length": 180}
+{"episode_index": 384, "tasks": ["Grab the blue rounded-bottom cup and place it on the light gray round grainy coaster."], "length": 183}
+{"episode_index": 385, "tasks": ["Pick the smooth blue cup for liquids up and drop it on the light gray round grainy coaster."], "length": 169}
+{"episode_index": 386, "tasks": ["Grab the smooth blue cup for liquids and lower it onto the round coaster"], "length": 167}
+{"episode_index": 387, "tasks": ["Move the blue rounded-bottom cup using the arm onto the round coaster."], "length": 164}
+{"episode_index": 388, "tasks": ["Using the arm, slide the cylindrical light blue cup onto the small coaster with grain texture."], "length": 168}
+{"episode_index": 389, "tasks": ["Use an arm to drop the medium-sized plastic blue cup on the wooden coaster"], "length": 168}
+{"episode_index": 390, "tasks": ["Slide the plastic cup for drinks onto the light gray round grainy coaster with the arm."], "length": 166}
+{"episode_index": 391, "tasks": ["Position the smooth blue drinking cup carefully on the smooth round palm-sized coaster"], "length": 169}
+{"episode_index": 392, "tasks": ["Stick the smooth blue cup for liquids onto the smooth round palm-sized coaster using the arm."], "length": 170}
+{"episode_index": 393, "tasks": ["Slide the medium-sized plastic blue cup onto the round coaster with light streaks with the arm."], "length": 180}
+{"episode_index": 394, "tasks": ["Grab the cylindrical light blue cup and lower it onto the grainy texture coaster"], "length": 170}
+{"episode_index": 395, "tasks": ["Place the cup with light blue color on top of the light gray round grainy coaster"], "length": 170}
+{"episode_index": 396, "tasks": ["Use the arm to put the blue rounded-bottom cup onto the round coaster."], "length": 169}
+{"episode_index": 397, "tasks": ["Grab the plastic cup for drinks and set it onto the smooth round palm-sized coaster."], "length": 170}
+{"episode_index": 398, "tasks": ["Slide the light blue plastic cup onto the flat round wooden coaster with the arm."], "length": 166}
+{"episode_index": 399, "tasks": ["Stick the medium blue cylindrical cup onto the small coaster with grain texture using the arm."], "length": 169}
+{"episode_index": 400, "tasks": ["Make sure the cup with smooth plastic surface ends up on the small coaster with grain texture."], "length": 173}
+{"episode_index": 401, "tasks": ["Place the medium-sized plastic blue cup on top of the wooden coaster"], "length": 171}
+{"episode_index": 402, "tasks": ["Stick the cup for holding liquids onto the smooth round palm-sized coaster using the arm."], "length": 165}
+{"episode_index": 403, "tasks": ["Direct the light blue plastic cup to the coaster made of smooth wood and let it rest."], "length": 171}
+{"episode_index": 404, "tasks": ["Use the arm to put the rounded base blue cup onto the small coaster with grain texture."], "length": 172}
+{"episode_index": 405, "tasks": ["Place the smooth blue drinking cup on top of the round coaster with light streaks"], "length": 166}
+{"episode_index": 406, "tasks": ["Move the rounded base blue cup onto the light gray streaked wooden coaster with the arm"], "length": 170}
+{"episode_index": 407, "tasks": ["Place the blue rounded-bottom cup on top of the wooden coaster"], "length": 174}
+{"episode_index": 408, "tasks": ["Set the blue rounded-bottom cup on the light gray streaked wooden coaster using the arm."], "length": 167}
+{"episode_index": 409, "tasks": ["Use the arm to position the medium blue cylindrical cup onto the light gray streaked wooden coaster."], "length": 174}
+{"episode_index": 410, "tasks": ["Slide the blue rounded-bottom cup onto the small coaster with grain texture with the arm."], "length": 170}
+{"episode_index": 411, "tasks": ["Direct the light blue plastic cup to the wooden coaster and let it rest."], "length": 169}
+{"episode_index": 412, "tasks": ["Set the medium blue cylindrical cup on the coaster with circular shape using the arm."], "length": 166}
+{"episode_index": 413, "tasks": ["Using the arm, drop the plastic cup for drinks onto the small coaster with grain texture."], "length": 167}
+{"episode_index": 414, "tasks": ["Set the smooth blue cup for liquids onto the light gray round grainy coaster using the arm."], "length": 168}
+{"episode_index": 415, "tasks": ["Set the cup with smooth plastic surface carefully onto the flat surface gray wooden coaster"], "length": 170}
+{"episode_index": 416, "tasks": ["Use an arm to place the smooth blue drinking cup on the light gray streaked wooden coaster"], "length": 171}
+{"episode_index": 417, "tasks": ["Move the rounded base blue cup to the wooden coaster using the arm."], "length": 172}
+{"episode_index": 418, "tasks": ["Position the cup with light blue color squarely on top of the smooth round palm-sized coaster."], "length": 171}
+{"episode_index": 419, "tasks": ["Lift the rounded base blue cup up and drop it on the grainy texture coaster."], "length": 165}
+{"episode_index": 420, "tasks": ["Grab the plastic cup for drinks and set it onto the round coaster with light streaks."], "length": 173}
+{"episode_index": 421, "tasks": ["Use an arm to drop the cup with smooth plastic surface on the round coaster with light streaks"], "length": 171}
+{"episode_index": 422, "tasks": ["Pick the plastic cup for drinks up and drop it on the coaster with circular shape."], "length": 171}
+{"episode_index": 423, "tasks": ["Move the rounded base blue cup to the smooth round palm-sized coaster using the arm."], "length": 174}
+{"episode_index": 424, "tasks": ["Move the medium blue cylindrical cup to the round coaster using the arm."], "length": 169}
+{"episode_index": 425, "tasks": ["Lift the cylindrical light blue cup and stick it onto the wooden coaster."], "length": 175}
+{"episode_index": 426, "tasks": ["Position the cup with smooth plastic surface above and drop it on the light gray round grainy coaster"], "length": 172}
+{"episode_index": 427, "tasks": ["Stick the cup with smooth plastic surface onto the flat surface gray wooden coaster using the arm."], "length": 172}
+{"episode_index": 428, "tasks": ["Position the blue rounded-bottom cup above and drop it on the round coaster with light streaks"], "length": 172}
+{"episode_index": 429, "tasks": ["Using the arm, slide the medium-sized plastic blue cup onto the flat round wooden coaster."], "length": 170}
+{"episode_index": 430, "tasks": ["Set the plastic cup for drinks down on the round coaster"], "length": 171}
+{"episode_index": 431, "tasks": ["Slide the rounded base blue cup gently onto the smooth round palm-sized coaster via the arm."], "length": 166}
+{"episode_index": 432, "tasks": ["Lift the plastic cup for drinks and stick it onto the light gray round grainy coaster."], "length": 165}
+{"episode_index": 433, "tasks": ["Drop the light blue plastic cup on top of the wooden coaster."], "length": 165}
+{"episode_index": 434, "tasks": ["Use the arm to set the medium blue cylindrical cup on the light gray round grainy coaster"], "length": 177}
+{"episode_index": 435, "tasks": ["Place the smooth blue drinking cup on top of the smooth round palm-sized coaster"], "length": 168}
+{"episode_index": 436, "tasks": ["Slide the cup with smooth plastic surface gently onto the round coaster with light streaks via the arm."], "length": 166}
+{"episode_index": 437, "tasks": ["Set the plastic cup for drinks on the grainy texture coaster using the arm."], "length": 170}
+{"episode_index": 438, "tasks": ["Use an arm to drop the medium-sized plastic blue cup on the grainy texture coaster"], "length": 170}
+{"episode_index": 439, "tasks": ["Use an arm to drop the plastic cup for drinks on the coaster made of smooth wood."], "length": 170}
+{"episode_index": 440, "tasks": ["Use an arm to drop the rounded base blue cup on the light gray streaked wooden coaster"], "length": 173}
+{"episode_index": 441, "tasks": ["Align the blue rounded-bottom cup and set it down on the light gray streaked wooden coaster"], "length": 172}
+{"episode_index": 442, "tasks": ["Set the cup with light blue color down on the small coaster with grain texture"], "length": 169}
+{"episode_index": 443, "tasks": ["Using the arm, drop the cup for holding liquids onto the round coaster."], "length": 183}
+{"episode_index": 444, "tasks": ["Use an arm to drop the cup with light blue color on the coaster with circular shape"], "length": 171}
+{"episode_index": 445, "tasks": ["Position the smooth blue drinking cup squarely on top of the smooth round palm-sized coaster."], "length": 170}
+{"episode_index": 446, "tasks": ["Use the arm to position the smooth blue drinking cup on the flat surface gray wooden coaster."], "length": 181}
+{"episode_index": 447, "tasks": ["Lift the medium blue cylindrical cup up and drop it on the light gray streaked wooden coaster."], "length": 173}
+{"episode_index": 448, "tasks": ["Drop the medium blue cylindrical cup on top of the grainy texture coaster."], "length": 172}
+{"episode_index": 449, "tasks": ["Use arm to place the light blue plastic cup on the light gray streaked wooden coaster"], "length": 168}
+{"episode_index": 450, "tasks": ["Move the smooth blue cup for liquids to the round coaster with light streaks"], "length": 170}
+{"episode_index": 451, "tasks": ["Relocate the blue rounded-bottom cup precisely onto the flat surface gray wooden coaster with arm"], "length": 172}
+{"episode_index": 452, "tasks": ["Using the arm, align the cup with light blue color over the round coaster with light streaks"], "length": 188}
+{"episode_index": 453, "tasks": ["Set the medium blue cylindrical cup down on the wooden coaster"], "length": 176}
+{"episode_index": 454, "tasks": ["Use an arm to drop the cylindrical light blue cup on the light gray round grainy coaster."], "length": 171}
+{"episode_index": 455, "tasks": ["Grab the medium-sized plastic blue cup and place it over the wooden coaster."], "length": 167}
+{"episode_index": 456, "tasks": ["Move the smooth blue cup for liquids to the flat round wooden coaster"], "length": 163}
+{"episode_index": 457, "tasks": ["Lift the smooth blue cup for liquids and stick it onto the flat surface gray wooden coaster."], "length": 166}
+{"episode_index": 458, "tasks": ["Set the cup for holding liquids down on the flat surface gray wooden coaster"], "length": 176}
+{"episode_index": 459, "tasks": ["Pick the light blue plastic cup up and drop it on the coaster with circular shape."], "length": 166}
+{"episode_index": 460, "tasks": ["Slide the smooth blue cup for liquids onto the small coaster with grain texture"], "length": 175}
+{"episode_index": 461, "tasks": ["Place the medium-sized plastic blue cup on top of the small coaster with grain texture"], "length": 171}
+{"episode_index": 462, "tasks": ["Slide the smooth blue cup for liquids onto the round coaster"], "length": 171}
+{"episode_index": 463, "tasks": ["Use the arm to slide the plastic cup for drinks onto the light gray round grainy coaster."], "length": 172}
+{"episode_index": 464, "tasks": ["Use an arm to drop the medium-sized plastic blue cup on the round coaster."], "length": 179}
+{"episode_index": 465, "tasks": ["Move the cup for holding liquids to the flat round wooden coaster using the arm."], "length": 171}
+{"episode_index": 466, "tasks": ["Position the medium-sized plastic blue cup carefully on the round coaster"], "length": 168}
+{"episode_index": 467, "tasks": ["Place the cylindrical light blue cup on top of the flat round wooden coaster"], "length": 166}
+{"episode_index": 468, "tasks": ["Move the cup for holding liquids onto the round coaster with light streaks with the arm"], "length": 175}
+{"episode_index": 469, "tasks": ["Grab the cylindrical light blue cup and place it on the smooth round palm-sized coaster."], "length": 170}
+{"episode_index": 470, "tasks": ["Set the medium-sized plastic blue cup on the round coaster with light streaks using the arm."], "length": 179}
+{"episode_index": 471, "tasks": ["Lift the medium-sized plastic blue cup and place it over the coaster made of smooth wood"], "length": 170}
+{"episode_index": 472, "tasks": ["Align the cup with light blue color and set it down on the flat round wooden coaster"], "length": 186}
+{"episode_index": 473, "tasks": ["Use an arm to place the medium blue cylindrical cup on the light gray streaked wooden coaster"], "length": 167}
+{"episode_index": 474, "tasks": ["Lift the cup for holding liquids and place it onto the flat surface gray wooden coaster."], "length": 171}
+{"episode_index": 475, "tasks": ["Move the plastic cup for drinks to the flat surface gray wooden coaster"], "length": 167}
+{"episode_index": 476, "tasks": ["Use arm to place the medium-sized plastic blue cup on the coaster made of smooth wood"], "length": 168}
+{"episode_index": 477, "tasks": ["Move the cup with smooth plastic surface to the light gray round grainy coaster and set it down."], "length": 172}
+{"episode_index": 478, "tasks": ["Position the light blue plastic cup on the grainy texture coaster with the arm."], "length": 171}
+{"episode_index": 479, "tasks": ["Make sure the cup with smooth plastic surface ends up on the light gray round grainy coaster."], "length": 175}
+{"episode_index": 480, "tasks": ["Using the arm, align the cylindrical light blue cup over the round coaster with light streaks"], "length": 167}
+{"episode_index": 481, "tasks": ["Grab the rounded base blue cup and place it over the smooth round palm-sized coaster."], "length": 168}
+{"episode_index": 482, "tasks": ["Move the cup for holding liquids using the arm onto the round coaster."], "length": 170}
+{"episode_index": 483, "tasks": ["Move the cup for holding liquids onto the flat round wooden coaster with the arm"], "length": 178}
+{"episode_index": 484, "tasks": ["Using the arm, drop the light blue plastic cup onto the small coaster with grain texture."], "length": 170}
+{"episode_index": 485, "tasks": ["Grab the cup with smooth plastic surface and set it onto the coaster made of smooth wood."], "length": 170}
+{"episode_index": 486, "tasks": ["Set the cup with smooth plastic surface securely on the smooth round palm-sized coaster using the arm."], "length": 179}
+{"episode_index": 487, "tasks": ["Move the cylindrical light blue cup onto the smooth round palm-sized coaster with the arm"], "length": 175}
+{"episode_index": 488, "tasks": ["Carefully place the smooth blue cup for liquids onto the light gray streaked wooden coaster without arm"], "length": 176}
+{"episode_index": 489, "tasks": ["Set the rounded base blue cup carefully onto the coaster made of smooth wood"], "length": 173}
+{"episode_index": 490, "tasks": ["Slide the plastic cup for drinks onto the small coaster with grain texture with the arm."], "length": 171}
+{"episode_index": 491, "tasks": ["Set the plastic cup for drinks onto the grainy texture coaster using the arm."], "length": 170}
+{"episode_index": 492, "tasks": ["Set the cup with smooth plastic surface carefully onto the light gray streaked wooden coaster"], "length": 173}
+{"episode_index": 493, "tasks": ["Position the blue rounded-bottom cup above and drop it on the light gray streaked wooden coaster"], "length": 170}
+{"episode_index": 494, "tasks": ["Use an arm to place the cup with smooth plastic surface on the coaster made of smooth wood"], "length": 169}
+{"episode_index": 495, "tasks": ["Using the arm, drop the medium-sized plastic blue cup onto the round coaster."], "length": 184}
+{"episode_index": 496, "tasks": ["Set the rounded base blue cup onto the smooth round palm-sized coaster using the arm."], "length": 171}
+{"episode_index": 497, "tasks": ["Move the rounded base blue cup onto the light gray streaked wooden coaster with the arm"], "length": 170}
+{"episode_index": 498, "tasks": ["Drop the cylindrical light blue cup on top of the smooth round palm-sized coaster."], "length": 177}
+{"episode_index": 499, "tasks": ["Move the blue rounded-bottom cup to the small coaster with grain texture using the arm."], "length": 168}
diff --git a/robotwin_place_empty_cup_demo_randomized_500/meta/episodes_stats.jsonl b/robotwin_place_empty_cup_demo_randomized_500/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ddc6f357913a4bb568394210f82edb835537e87f
--- /dev/null
+++ b/robotwin_place_empty_cup_demo_randomized_500/meta/episodes_stats.jsonl
@@ -0,0 +1,500 @@
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diff --git a/robotwin_place_empty_cup_demo_randomized_500/meta/info.json b/robotwin_place_empty_cup_demo_randomized_500/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1782f912c7353e73ab96e973c38816d2b2248113
--- /dev/null
+++ b/robotwin_place_empty_cup_demo_randomized_500/meta/info.json
@@ -0,0 +1,170 @@
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+                    "left_elbow",
+                    "left_forearm_roll",
+                    "left_wrist_angle",
+                    "left_wrist_rotate",
+                    "left_gripper",
+                    "right_waist",
+                    "right_shoulder",
+                    "right_elbow",
+                    "right_forearm_roll",
+                    "right_wrist_angle",
+                    "right_wrist_rotate",
+                    "right_gripper"
+                ]
+            ]
+        },
+        "observation.images.cam_high": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "rgb"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_left_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "rgb"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_right_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "rgb"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/robotwin_place_empty_cup_demo_randomized_500/meta/tasks.jsonl b/robotwin_place_empty_cup_demo_randomized_500/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a0b5a08228cc09c5ed8bff9f6220605056672426
--- /dev/null
+++ b/robotwin_place_empty_cup_demo_randomized_500/meta/tasks.jsonl
@@ -0,0 +1,487 @@
+{"task_index": 0, "task": "Using the arm, align the light blue plastic cup over the coaster made of smooth wood"}
+{"task_index": 1, "task": "Set the light blue plastic cup down on the small coaster with grain texture"}
+{"task_index": 2, "task": "Align the cup for holding liquids and set it down on the coaster with circular shape"}
+{"task_index": 3, "task": "Use the arm to slide the smooth blue cup for liquids onto the coaster made of smooth wood."}
+{"task_index": 4, "task": "Slide the rounded base blue cup onto the wooden coaster with the arm."}
+{"task_index": 5, "task": "Position the cup with smooth plastic surface on the flat surface gray wooden coaster with the arm."}
+{"task_index": 6, "task": "Use the arm to put the rounded base blue cup onto the grainy texture coaster."}
+{"task_index": 7, "task": "Grab the plastic cup for drinks and place it over the light gray round grainy coaster."}
+{"task_index": 8, "task": "Pick the smooth blue drinking cup up and drop it on the flat round wooden coaster."}
+{"task_index": 9, "task": "Position the rounded base blue cup on the coaster made of smooth wood with the arm."}
+{"task_index": 10, "task": "Move the plastic cup for drinks onto the coaster made of smooth wood with the arm"}
+{"task_index": 11, "task": "Set the cup with light blue color down on the light gray round grainy coaster"}
+{"task_index": 12, "task": "Align the cup with light blue color and set it down on the round coaster"}
+{"task_index": 13, "task": "Use the arm to slide the smooth blue drinking cup onto the coaster with circular shape."}
+{"task_index": 14, "task": "Direct the blue rounded-bottom cup to the small coaster with grain texture and let it rest."}
+{"task_index": 15, "task": "Use the arm to set the cup with smooth plastic surface on the smooth round palm-sized coaster"}
+{"task_index": 16, "task": "Set the cylindrical light blue cup onto the coaster made of smooth wood using the arm."}
+{"task_index": 17, "task": "Slide the blue rounded-bottom cup onto the round coaster with light streaks with the arm."}
+{"task_index": 18, "task": "Use an arm to drop the medium blue cylindrical cup on the wooden coaster."}
+{"task_index": 19, "task": "Stick the blue rounded-bottom cup onto the light gray streaked wooden coaster carefully."}
+{"task_index": 20, "task": "Move the cup with smooth plastic surface to the grainy texture coaster"}
+{"task_index": 21, "task": "Drop the smooth blue drinking cup on top of the smooth round palm-sized coaster."}
+{"task_index": 22, "task": "Move the cup for holding liquids to the coaster with circular shape and set it down."}
+{"task_index": 23, "task": "Position the blue rounded-bottom cup above and drop it on the grainy texture coaster"}
+{"task_index": 24, "task": "Slide the medium-sized plastic blue cup gently onto the wooden coaster via the arm."}
+{"task_index": 25, "task": "Slide the cup with smooth plastic surface gently onto the flat surface gray wooden coaster via the arm."}
+{"task_index": 26, "task": "Carefully place the medium-sized plastic blue cup onto the light gray round grainy coaster without arm"}
+{"task_index": 27, "task": "Use the arm to position the cup for holding liquids onto the round coaster with light streaks."}
+{"task_index": 28, "task": "Set the rounded base blue cup down on the flat surface gray wooden coaster"}
+{"task_index": 29, "task": "Stick the blue rounded-bottom cup onto the small coaster with grain texture using the arm"}
+{"task_index": 30, "task": "Lift the cup for holding liquids and place it onto the round coaster."}
+{"task_index": 31, "task": "Grab the cup with smooth plastic surface and set it onto the small coaster with grain texture."}
+{"task_index": 32, "task": "Lift the medium blue cylindrical cup up and drop it on the small coaster with grain texture."}
+{"task_index": 33, "task": "Grab the medium blue cylindrical cup, then place it onto the coaster made of smooth wood."}
+{"task_index": 34, "task": "Move the smooth blue cup for liquids to the coaster with circular shape"}
+{"task_index": 35, "task": "Grab the cup with light blue color and place it over the wooden coaster."}
+{"task_index": 36, "task": "Place the cup with smooth plastic surface on top of the light gray streaked wooden coaster"}
+{"task_index": 37, "task": "Move the medium blue cylindrical cup to the small coaster with grain texture and set it down."}
+{"task_index": 38, "task": "Use arm to place the rounded base blue cup on the light gray streaked wooden coaster"}
+{"task_index": 39, "task": "Set the cup with light blue color securely on the light gray streaked wooden coaster using the arm."}
+{"task_index": 40, "task": "Drop the smooth blue drinking cup firmly on the wooden coaster using arm"}
+{"task_index": 41, "task": "Using the arm, align the cup with smooth plastic surface over the grainy texture coaster"}
+{"task_index": 42, "task": "Lift the plastic cup for drinks and stick it onto the flat surface gray wooden coaster."}
+{"task_index": 43, "task": "Position the plastic cup for drinks above and drop it on the flat surface gray wooden coaster"}
+{"task_index": 44, "task": "Use an arm to place the blue rounded-bottom cup on the smooth round palm-sized coaster"}
+{"task_index": 45, "task": "Set the smooth blue drinking cup down on the smooth round palm-sized coaster"}
+{"task_index": 46, "task": "Carefully place the smooth blue cup for liquids onto the small coaster with grain texture without arm"}
+{"task_index": 47, "task": "Stick the cup for holding liquids onto the light gray round grainy coaster carefully."}
+{"task_index": 48, "task": "Using the arm, slide the smooth blue cup for liquids onto the wooden coaster."}
+{"task_index": 49, "task": "Position the cup with smooth plastic surface carefully on the light gray round grainy coaster"}
+{"task_index": 50, "task": "Align the blue rounded-bottom cup and set it down on the grainy texture coaster"}
+{"task_index": 51, "task": "Grab the plastic cup for drinks, then place it onto the light gray streaked wooden coaster."}
+{"task_index": 52, "task": "Drop the blue rounded-bottom cup on top of the light gray streaked wooden coaster."}
+{"task_index": 53, "task": "Lift the rounded base blue cup and place it onto the wooden coaster."}
+{"task_index": 54, "task": "Use an arm to drop the cup for holding liquids on the coaster with circular shape."}
+{"task_index": 55, "task": "Grab the medium-sized plastic blue cup and set it onto the coaster with circular shape."}
+{"task_index": 56, "task": "Lift the plastic cup for drinks up and drop it on the coaster with circular shape."}
+{"task_index": 57, "task": "Use the arm to position the cylindrical light blue cup on the light gray round grainy coaster."}
+{"task_index": 58, "task": "Stick the blue rounded-bottom cup onto the grainy texture coaster carefully."}
+{"task_index": 59, "task": "Stick the smooth blue cup for liquids onto the flat surface gray wooden coaster carefully."}
+{"task_index": 60, "task": "Use the arm to position the medium blue cylindrical cup on the light gray streaked wooden coaster."}
+{"task_index": 61, "task": "Lift the blue rounded-bottom cup and place it onto the wooden coaster."}
+{"task_index": 62, "task": "Slide the cup with light blue color gently onto the round coaster via the arm."}
+{"task_index": 63, "task": "Grab the cylindrical light blue cup and set it onto the flat surface gray wooden coaster."}
+{"task_index": 64, "task": "Position the medium blue cylindrical cup carefully on the coaster with circular shape"}
+{"task_index": 65, "task": "Move the cup with smooth plastic surface to the light gray streaked wooden coaster and set it down."}
+{"task_index": 66, "task": "Set the medium-sized plastic blue cup carefully onto the round coaster with light streaks"}
+{"task_index": 67, "task": "Move the cup for holding liquids onto the light gray streaked wooden coaster with the arm"}
+{"task_index": 68, "task": "Move the cup with light blue color to the light gray round grainy coaster using the arm."}
+{"task_index": 69, "task": "Stick the cup for holding liquids onto the coaster made of smooth wood using the arm."}
+{"task_index": 70, "task": "Use the arm to position the medium blue cylindrical cup on the round coaster with light streaks."}
+{"task_index": 71, "task": "Stick the cup with smooth plastic surface onto the light gray streaked wooden coaster using the arm."}
+{"task_index": 72, "task": "Lift the cylindrical light blue cup and place it over the light gray round grainy coaster"}
+{"task_index": 73, "task": "Direct the rounded base blue cup to the flat round wooden coaster and let it rest."}
+{"task_index": 74, "task": "Position the cylindrical light blue cup on the flat surface gray wooden coaster with the arm."}
+{"task_index": 75, "task": "Direct the cup for holding liquids to the small coaster with grain texture and let it rest."}
+{"task_index": 76, "task": "Move the rounded base blue cup to the flat surface gray wooden coaster and set it down."}
+{"task_index": 77, "task": "Drop the cup for holding liquids firmly on the coaster made of smooth wood using arm"}
+{"task_index": 78, "task": "Stick the cup with smooth plastic surface onto the coaster with circular shape using the arm."}
+{"task_index": 79, "task": "Move the medium blue cylindrical cup using the arm onto the coaster made of smooth wood."}
+{"task_index": 80, "task": "Use an arm to place the smooth blue cup for liquids on the round coaster"}
+{"task_index": 81, "task": "Grab the medium blue cylindrical cup and place it over the small coaster with grain texture."}
+{"task_index": 82, "task": "Stick the cup for holding liquids onto the smooth round palm-sized coaster using the arm."}
+{"task_index": 83, "task": "Set the smooth blue cup for liquids securely on the grainy texture coaster using the arm."}
+{"task_index": 84, "task": "Direct the cup with light blue color to the smooth round palm-sized coaster and let it rest."}
+{"task_index": 85, "task": "Stick the cup with smooth plastic surface onto the flat surface gray wooden coaster carefully."}
+{"task_index": 86, "task": "Move the smooth blue drinking cup to the flat surface gray wooden coaster"}
+{"task_index": 87, "task": "Grab the cup with light blue color and set it onto the coaster with circular shape."}
+{"task_index": 88, "task": "Use an arm to drop the cup for holding liquids on the wooden coaster"}
+{"task_index": 89, "task": "Lift the cup for holding liquids and place it over the coaster with circular shape"}
+{"task_index": 90, "task": "Move the medium blue cylindrical cup using the arm onto the wooden coaster."}
+{"task_index": 91, "task": "Carefully place the cup for holding liquids onto the flat surface gray wooden coaster without arm"}
+{"task_index": 92, "task": "Grab the cup for holding liquids, then place it onto the small coaster with grain texture."}
+{"task_index": 93, "task": "Position the cup with smooth plastic surface squarely on top of the flat round wooden coaster."}
+{"task_index": 94, "task": "Use an arm to drop the cylindrical light blue cup on the smooth round palm-sized coaster."}
+{"task_index": 95, "task": "Stick the cup with light blue color onto the small coaster with grain texture carefully."}
+{"task_index": 96, "task": "Slide the medium-sized plastic blue cup gently onto the grainy texture coaster via the arm."}
+{"task_index": 97, "task": "Drop the plastic cup for drinks on top of the coaster made of smooth wood."}
+{"task_index": 98, "task": "Set the smooth blue cup for liquids down on the light gray streaked wooden coaster"}
+{"task_index": 99, "task": "Grab the smooth blue cup for liquids and place it over the round coaster with light streaks."}
+{"task_index": 100, "task": "Set the plastic cup for drinks carefully onto the light gray round grainy coaster"}
+{"task_index": 101, "task": "Direct the smooth blue cup for liquids to the light gray streaked wooden coaster and let it rest."}
+{"task_index": 102, "task": "Using the arm, drop the cup with smooth plastic surface onto the coaster made of smooth wood."}
+{"task_index": 103, "task": "Set the light blue plastic cup carefully onto the small coaster with grain texture"}
+{"task_index": 104, "task": "Using the arm, drop the medium blue cylindrical cup onto the grainy texture coaster."}
+{"task_index": 105, "task": "Using the arm, slide the cup with light blue color onto the light gray streaked wooden coaster."}
+{"task_index": 106, "task": "Align the medium-sized plastic blue cup and set it down on the coaster made of smooth wood"}
+{"task_index": 107, "task": "Use the arm to position the blue rounded-bottom cup on the flat surface gray wooden coaster."}
+{"task_index": 108, "task": "Relocate the rounded base blue cup precisely onto the round coaster with light streaks with arm"}
+{"task_index": 109, "task": "Move the plastic cup for drinks to the coaster with circular shape using the arm."}
+{"task_index": 110, "task": "Set the cup with smooth plastic surface carefully onto the grainy texture coaster"}
+{"task_index": 111, "task": "Carefully place the cup with smooth plastic surface onto the grainy texture coaster without arm"}
+{"task_index": 112, "task": "Move the cup with light blue color to the smooth round palm-sized coaster and set it down."}
+{"task_index": 113, "task": "Use the arm to set the cup with light blue color on the light gray round grainy coaster"}
+{"task_index": 114, "task": "Using the arm, align the smooth blue cup for liquids over the small coaster with grain texture"}
+{"task_index": 115, "task": "Set the medium blue cylindrical cup securely on the coaster with circular shape using the arm."}
+{"task_index": 116, "task": "Relocate the rounded base blue cup precisely onto the flat round wooden coaster with arm"}
+{"task_index": 117, "task": "Use an arm to drop the plastic cup for drinks on the coaster made of smooth wood"}
+{"task_index": 118, "task": "Lift the plastic cup for drinks up and drop it on the flat round wooden coaster."}
+{"task_index": 119, "task": "Use the arm to slide the cup with smooth plastic surface onto the coaster made of smooth wood."}
+{"task_index": 120, "task": "Grab the blue rounded-bottom cup and set it onto the light gray round grainy coaster."}
+{"task_index": 121, "task": "Stick the smooth blue cup for liquids onto the grainy texture coaster using the arm."}
+{"task_index": 122, "task": "Make sure the cylindrical light blue cup ends up on the flat surface gray wooden coaster."}
+{"task_index": 123, "task": "Align the medium blue cylindrical cup and set it down on the small coaster with grain texture"}
+{"task_index": 124, "task": "Move the cup for holding liquids using the arm onto the coaster made of smooth wood."}
+{"task_index": 125, "task": "Using the arm, drop the cup with smooth plastic surface onto the light gray streaked wooden coaster."}
+{"task_index": 126, "task": "Use the arm to slide the cup for holding liquids onto the smooth round palm-sized coaster."}
+{"task_index": 127, "task": "Lift the smooth blue cup for liquids and place it onto the round coaster."}
+{"task_index": 128, "task": "Set the blue rounded-bottom cup down on the coaster with circular shape"}
+{"task_index": 129, "task": "Lift the cup for holding liquids and place it onto the round coaster with light streaks."}
+{"task_index": 130, "task": "Align the light blue plastic cup and set it down on the coaster with circular shape"}
+{"task_index": 131, "task": "Position the plastic cup for drinks squarely on top of the light gray round grainy coaster."}
+{"task_index": 132, "task": "Grab the medium-sized plastic blue cup and set it onto the round coaster with light streaks."}
+{"task_index": 133, "task": "Set the smooth blue drinking cup down on the coaster made of smooth wood"}
+{"task_index": 134, "task": "Move the cup with smooth plastic surface onto the light gray round grainy coaster with the arm"}
+{"task_index": 135, "task": "Using the arm, slide the plastic cup for drinks onto the wooden coaster."}
+{"task_index": 136, "task": "Grab the cylindrical light blue cup and lower it onto the flat surface gray wooden coaster"}
+{"task_index": 137, "task": "Stick the medium blue cylindrical cup onto the round coaster with light streaks carefully."}
+{"task_index": 138, "task": "Lift the blue rounded-bottom cup and place it over the wooden coaster"}
+{"task_index": 139, "task": "Pick the medium blue cylindrical cup up and drop it on the round coaster."}
+{"task_index": 140, "task": "Lift the plastic cup for drinks up and drop it on the smooth round palm-sized coaster."}
+{"task_index": 141, "task": "Using the arm, align the blue rounded-bottom cup over the light gray streaked wooden coaster"}
+{"task_index": 142, "task": "Move the medium blue cylindrical cup to the flat round wooden coaster and set it down."}
+{"task_index": 143, "task": "Align the medium-sized plastic blue cup and set it down on the wooden coaster"}
+{"task_index": 144, "task": "Slide the medium-sized plastic blue cup onto the wooden coaster with the arm."}
+{"task_index": 145, "task": "Position the medium-sized plastic blue cup above and drop it on the light gray streaked wooden coaster"}
+{"task_index": 146, "task": "Relocate the cylindrical light blue cup precisely onto the flat round wooden coaster with arm"}
+{"task_index": 147, "task": "Use the arm to position the medium-sized plastic blue cup on the wooden coaster."}
+{"task_index": 148, "task": "Grab the blue rounded-bottom cup and lower it onto the light gray round grainy coaster"}
+{"task_index": 149, "task": "Lift the plastic cup for drinks up and drop it on the light gray streaked wooden coaster."}
+{"task_index": 150, "task": "Set the medium blue cylindrical cup onto the grainy texture coaster using the arm."}
+{"task_index": 151, "task": "Slide the cup for holding liquids onto the coaster made of smooth wood"}
+{"task_index": 152, "task": "Set the plastic cup for drinks on the round coaster with light streaks using the arm."}
+{"task_index": 153, "task": "Set the cup with light blue color on the round coaster with light streaks using the arm."}
+{"task_index": 154, "task": "Stick the cup for holding liquids onto the smooth round palm-sized coaster using the arm"}
+{"task_index": 155, "task": "Move the cup with light blue color using the arm onto the wooden coaster."}
+{"task_index": 156, "task": "Direct the smooth blue cup for liquids to the flat round wooden coaster and let it rest."}
+{"task_index": 157, "task": "Position the blue rounded-bottom cup squarely on top of the coaster made of smooth wood."}
+{"task_index": 158, "task": "Place the blue rounded-bottom cup on top of the flat round wooden coaster"}
+{"task_index": 159, "task": "Drop the cup with smooth plastic surface firmly on the flat surface gray wooden coaster using arm"}
+{"task_index": 160, "task": "Use the arm to set the smooth blue drinking cup on the flat surface gray wooden coaster"}
+{"task_index": 161, "task": "Use the arm to position the rounded base blue cup onto the wooden coaster."}
+{"task_index": 162, "task": "Using the arm, align the smooth blue cup for liquids over the round coaster with light streaks"}
+{"task_index": 163, "task": "Align the cup with light blue color and set it down on the flat round wooden coaster"}
+{"task_index": 164, "task": "Using the arm, align the cylindrical light blue cup over the grainy texture coaster"}
+{"task_index": 165, "task": "Move the cup with smooth plastic surface using the arm onto the small coaster with grain texture."}
+{"task_index": 166, "task": "Lift the plastic cup for drinks up and drop it on the light gray round grainy coaster."}
+{"task_index": 167, "task": "Lift the blue rounded-bottom cup up and drop it on the flat surface gray wooden coaster."}
+{"task_index": 168, "task": "Using the arm, slide the plastic cup for drinks onto the round coaster with light streaks."}
+{"task_index": 169, "task": "Using the arm, drop the smooth blue cup for liquids onto the light gray streaked wooden coaster."}
+{"task_index": 170, "task": "Grab the cylindrical light blue cup and lower it onto the round coaster with light streaks"}
+{"task_index": 171, "task": "Using the arm, slide the blue rounded-bottom cup onto the coaster made of smooth wood."}
+{"task_index": 172, "task": "Move the light blue plastic cup onto the coaster with circular shape with the arm"}
+{"task_index": 173, "task": "Use arm to place the smooth blue drinking cup on the round coaster with light streaks"}
+{"task_index": 174, "task": "Use the arm to set the plastic cup for drinks on the flat round wooden coaster"}
+{"task_index": 175, "task": "Carefully place the medium-sized plastic blue cup onto the smooth round palm-sized coaster without arm"}
+{"task_index": 176, "task": "Pick the smooth blue drinking cup up and drop it on the coaster with circular shape."}
+{"task_index": 177, "task": "Relocate the light blue plastic cup precisely onto the small coaster with grain texture with arm"}
+{"task_index": 178, "task": "Use the arm to position the cup with smooth plastic surface onto the flat surface gray wooden coaster."}
+{"task_index": 179, "task": "Move the plastic cup for drinks onto the round coaster with light streaks with the arm"}
+{"task_index": 180, "task": "Move the cup for holding liquids to the flat round wooden coaster and set it down."}
+{"task_index": 181, "task": "Stick the cup with smooth plastic surface onto the light gray streaked wooden coaster carefully."}
+{"task_index": 182, "task": "Using the arm, slide the cylindrical light blue cup onto the flat surface gray wooden coaster."}
+{"task_index": 183, "task": "Use the arm to position the cylindrical light blue cup on the flat surface gray wooden coaster."}
+{"task_index": 184, "task": "Lift the cup with light blue color and place it over the flat round wooden coaster"}
+{"task_index": 185, "task": "Position the cup with smooth plastic surface squarely on top of the small coaster with grain texture."}
+{"task_index": 186, "task": "Set the medium blue cylindrical cup down on the coaster with circular shape"}
+{"task_index": 187, "task": "Grab the cup with smooth plastic surface and place it on the flat surface gray wooden coaster."}
+{"task_index": 188, "task": "Use an arm to drop the rounded base blue cup on the coaster with circular shape"}
+{"task_index": 189, "task": "Place the medium blue cylindrical cup on top of the flat surface gray wooden coaster"}
+{"task_index": 190, "task": "Using the arm, align the medium blue cylindrical cup over the coaster with circular shape"}
+{"task_index": 191, "task": "Use an arm to drop the blue rounded-bottom cup on the round coaster."}
+{"task_index": 192, "task": "Make sure the blue rounded-bottom cup ends up on the wooden coaster."}
+{"task_index": 193, "task": "Carefully place the rounded base blue cup onto the round coaster without arm"}
+{"task_index": 194, "task": "Carefully place the cup with light blue color onto the flat round wooden coaster without arm"}
+{"task_index": 195, "task": "Use the arm to slide the smooth blue drinking cup onto the light gray round grainy coaster."}
+{"task_index": 196, "task": "Use an arm to place the rounded base blue cup on the flat round wooden coaster"}
+{"task_index": 197, "task": "Use the arm to position the cup for holding liquids onto the coaster with circular shape."}
+{"task_index": 198, "task": "Lift the rounded base blue cup and place it over the light gray streaked wooden coaster"}
+{"task_index": 199, "task": "Use an arm to drop the cup with smooth plastic surface on the wooden coaster."}
+{"task_index": 200, "task": "Slide the smooth blue cup for liquids onto the light gray round grainy coaster with the arm."}
+{"task_index": 201, "task": "Grab the smooth blue cup for liquids and lower it onto the flat surface gray wooden coaster"}
+{"task_index": 202, "task": "Direct the smooth blue cup for liquids to the flat surface gray wooden coaster and let it rest."}
+{"task_index": 203, "task": "Move the cup with smooth plastic surface to the grainy texture coaster and set it down."}
+{"task_index": 204, "task": "Position the smooth blue drinking cup squarely on top of the round coaster."}
+{"task_index": 205, "task": "Move the medium blue cylindrical cup onto the smooth round palm-sized coaster with the arm"}
+{"task_index": 206, "task": "Use the arm to position the blue rounded-bottom cup onto the coaster with circular shape."}
+{"task_index": 207, "task": "Grab the cylindrical light blue cup and set it onto the round coaster with light streaks."}
+{"task_index": 208, "task": "Use an arm to place the cylindrical light blue cup on the grainy texture coaster"}
+{"task_index": 209, "task": "Position the cup for holding liquids above and drop it on the coaster made of smooth wood"}
+{"task_index": 210, "task": "Slide the cylindrical light blue cup gently onto the smooth round palm-sized coaster via the arm."}
+{"task_index": 211, "task": "Slide the rounded base blue cup onto the round coaster with light streaks with the arm."}
+{"task_index": 212, "task": "Make sure the cup with smooth plastic surface ends up on the round coaster with light streaks."}
+{"task_index": 213, "task": "Drop the light blue plastic cup on top of the flat round wooden coaster."}
+{"task_index": 214, "task": "Set the light blue plastic cup down on the grainy texture coaster"}
+{"task_index": 215, "task": "Use the arm to slide the cylindrical light blue cup onto the light gray streaked wooden coaster."}
+{"task_index": 216, "task": "Grab the smooth blue drinking cup and place it over the flat round wooden coaster."}
+{"task_index": 217, "task": "Lift the light blue plastic cup up and drop it on the flat surface gray wooden coaster."}
+{"task_index": 218, "task": "Make sure the cup with light blue color ends up on the small coaster with grain texture."}
+{"task_index": 219, "task": "Using the arm, align the smooth blue drinking cup over the light gray round grainy coaster"}
+{"task_index": 220, "task": "Set the cup for holding liquids down on the small coaster with grain texture"}
+{"task_index": 221, "task": "Move the medium-sized plastic blue cup to the coaster with circular shape using the arm."}
+{"task_index": 222, "task": "Position the smooth blue cup for liquids above and drop it on the flat surface gray wooden coaster"}
+{"task_index": 223, "task": "Use the arm to slide the cylindrical light blue cup onto the grainy texture coaster."}
+{"task_index": 224, "task": "Using the arm, slide the light blue plastic cup onto the smooth round palm-sized coaster."}
+{"task_index": 225, "task": "Set the smooth blue drinking cup securely on the coaster made of smooth wood using the arm."}
+{"task_index": 226, "task": "Slide the plastic cup for drinks gently onto the smooth round palm-sized coaster via the arm."}
+{"task_index": 227, "task": "Direct the cup with smooth plastic surface to the round coaster with light streaks and let it rest."}
+{"task_index": 228, "task": "Use the arm to position the smooth blue cup for liquids on the round coaster with light streaks."}
+{"task_index": 229, "task": "Stick the rounded base blue cup onto the smooth round palm-sized coaster carefully."}
+{"task_index": 230, "task": "Use the arm to set the blue rounded-bottom cup on the round coaster"}
+{"task_index": 231, "task": "Use the arm to position the plastic cup for drinks onto the wooden coaster."}
+{"task_index": 232, "task": "Place the smooth blue cup for liquids on top of the grainy texture coaster"}
+{"task_index": 233, "task": "Lift the plastic cup for drinks up and drop it on the flat surface gray wooden coaster."}
+{"task_index": 234, "task": "Move the cup with light blue color to the wooden coaster"}
+{"task_index": 235, "task": "Set the plastic cup for drinks down on the smooth round palm-sized coaster"}
+{"task_index": 236, "task": "Position the cup with smooth plastic surface on the flat round wooden coaster with the arm."}
+{"task_index": 237, "task": "Slide the cylindrical light blue cup onto the light gray streaked wooden coaster"}
+{"task_index": 238, "task": "Use the arm to set the cup with smooth plastic surface on the light gray streaked wooden coaster"}
+{"task_index": 239, "task": "Use an arm to drop the plastic cup for drinks on the flat surface gray wooden coaster."}
+{"task_index": 240, "task": "Move the cup with light blue color to the coaster with circular shape"}
+{"task_index": 241, "task": "Move the blue rounded-bottom cup to the grainy texture coaster and set it down."}
+{"task_index": 242, "task": "Place the medium blue cylindrical cup on top of the coaster made of smooth wood"}
+{"task_index": 243, "task": "Move the blue rounded-bottom cup to the coaster with circular shape"}
+{"task_index": 244, "task": "Set the smooth blue drinking cup on the flat round wooden coaster using the arm."}
+{"task_index": 245, "task": "Set the smooth blue cup for liquids on the small coaster with grain texture using the arm."}
+{"task_index": 246, "task": "Move the cylindrical light blue cup to the coaster made of smooth wood using the arm."}
+{"task_index": 247, "task": "Grab the cup for holding liquids and lower it onto the round coaster"}
+{"task_index": 248, "task": "Lift the light blue plastic cup and stick it onto the wooden coaster."}
+{"task_index": 249, "task": "Pick the cup for holding liquids up and drop it on the light gray streaked wooden coaster."}
+{"task_index": 250, "task": "Position the smooth blue drinking cup carefully on the coaster with circular shape"}
+{"task_index": 251, "task": "Move the smooth blue cup for liquids to the wooden coaster"}
+{"task_index": 252, "task": "Position the rounded base blue cup squarely on top of the round coaster with light streaks."}
+{"task_index": 253, "task": "Slide the cylindrical light blue cup onto the flat surface gray wooden coaster"}
+{"task_index": 254, "task": "Set the blue rounded-bottom cup on the wooden coaster using the arm."}
+{"task_index": 255, "task": "Set the light blue plastic cup on the flat round wooden coaster using the arm."}
+{"task_index": 256, "task": "Lift the medium blue cylindrical cup and stick it onto the smooth round palm-sized coaster."}
+{"task_index": 257, "task": "Slide the medium-sized plastic blue cup onto the small coaster with grain texture"}
+{"task_index": 258, "task": "Slide the medium-sized plastic blue cup onto the wooden coaster"}
+{"task_index": 259, "task": "Stick the light blue plastic cup onto the grainy texture coaster using the arm"}
+{"task_index": 260, "task": "Relocate the plastic cup for drinks precisely onto the round coaster with light streaks with arm"}
+{"task_index": 261, "task": "Use the arm to slide the cup with smooth plastic surface onto the light gray round grainy coaster."}
+{"task_index": 262, "task": "Pick the rounded base blue cup up and drop it on the grainy texture coaster."}
+{"task_index": 263, "task": "Lift the smooth blue cup for liquids and stick it onto the flat surface gray wooden coaster."}
+{"task_index": 264, "task": "Use arm to place the cylindrical light blue cup on the round coaster with light streaks"}
+{"task_index": 265, "task": "Use the arm to position the plastic cup for drinks on the light gray streaked wooden coaster."}
+{"task_index": 266, "task": "Position the medium-sized plastic blue cup carefully on the coaster made of smooth wood"}
+{"task_index": 267, "task": "Set the light blue plastic cup on the round coaster with light streaks using the arm."}
+{"task_index": 268, "task": "Move the medium-sized plastic blue cup to the wooden coaster"}
+{"task_index": 269, "task": "Position the cup for holding liquids squarely on top of the coaster made of smooth wood."}
+{"task_index": 270, "task": "Set the blue rounded-bottom cup carefully onto the coaster with circular shape"}
+{"task_index": 271, "task": "Grab the blue rounded-bottom cup and lower it onto the grainy texture coaster"}
+{"task_index": 272, "task": "Move the rounded base blue cup to the round coaster with light streaks"}
+{"task_index": 273, "task": "Position the cup with light blue color squarely on top of the round coaster."}
+{"task_index": 274, "task": "Set the smooth blue cup for liquids carefully onto the flat round wooden coaster"}
+{"task_index": 275, "task": "Relocate the light blue plastic cup precisely onto the coaster made of smooth wood with arm"}
+{"task_index": 276, "task": "Position the blue rounded-bottom cup above and drop it on the round coaster"}
+{"task_index": 277, "task": "Slide the cylindrical light blue cup onto the smooth round palm-sized coaster"}
+{"task_index": 278, "task": "Stick the medium-sized plastic blue cup onto the round coaster with light streaks using the arm"}
+{"task_index": 279, "task": "Grab the cylindrical light blue cup and place it over the grainy texture coaster."}
+{"task_index": 280, "task": "Position the medium blue cylindrical cup above and drop it on the flat surface gray wooden coaster"}
+{"task_index": 281, "task": "Grab the cup for holding liquids and place it over the flat round wooden coaster."}
+{"task_index": 282, "task": "Set the plastic cup for drinks onto the flat round wooden coaster using the arm."}
+{"task_index": 283, "task": "Set the plastic cup for drinks on the coaster made of smooth wood using the arm."}
+{"task_index": 284, "task": "Slide the cylindrical light blue cup gently onto the round coaster via the arm."}
+{"task_index": 285, "task": "Position the cup with light blue color carefully on the wooden coaster"}
+{"task_index": 286, "task": "Move the cup for holding liquids using the arm onto the flat surface gray wooden coaster."}
+{"task_index": 287, "task": "Set the cylindrical light blue cup on the smooth round palm-sized coaster using the arm."}
+{"task_index": 288, "task": "Use the arm to slide the blue rounded-bottom cup onto the flat surface gray wooden coaster."}
+{"task_index": 289, "task": "Stick the smooth blue drinking cup onto the light gray streaked wooden coaster carefully."}
+{"task_index": 290, "task": "Grab the medium blue cylindrical cup and place it on the light gray streaked wooden coaster."}
+{"task_index": 291, "task": "Set the cup for holding liquids down on the coaster with circular shape"}
+{"task_index": 292, "task": "Move the cup for holding liquids using the arm onto the flat round wooden coaster."}
+{"task_index": 293, "task": "Grab the cylindrical light blue cup and set it onto the grainy texture coaster."}
+{"task_index": 294, "task": "Position the blue rounded-bottom cup squarely on top of the flat surface gray wooden coaster."}
+{"task_index": 295, "task": "Relocate the cup for holding liquids precisely onto the grainy texture coaster with arm"}
+{"task_index": 296, "task": "Set the cup for holding liquids carefully onto the grainy texture coaster"}
+{"task_index": 297, "task": "Lift the cup with smooth plastic surface and place it onto the light gray streaked wooden coaster."}
+{"task_index": 298, "task": "Slide the rounded base blue cup gently onto the coaster with circular shape via the arm."}
+{"task_index": 299, "task": "Position the blue rounded-bottom cup on the light gray round grainy coaster with the arm."}
+{"task_index": 300, "task": "Position the cup with light blue color squarely on top of the round coaster with light streaks."}
+{"task_index": 301, "task": "Grab the smooth blue cup for liquids and place it on the grainy texture coaster."}
+{"task_index": 302, "task": "Slide the cup with smooth plastic surface onto the wooden coaster"}
+{"task_index": 303, "task": "Using the arm, drop the medium blue cylindrical cup onto the flat round wooden coaster."}
+{"task_index": 304, "task": "Carefully place the cup with smooth plastic surface onto the coaster with circular shape without arm"}
+{"task_index": 305, "task": "Use the arm to position the cup for holding liquids onto the round coaster."}
+{"task_index": 306, "task": "Position the smooth blue drinking cup above and drop it on the round coaster with light streaks"}
+{"task_index": 307, "task": "Use an arm to drop the smooth blue cup for liquids on the coaster made of smooth wood"}
+{"task_index": 308, "task": "Move the light blue plastic cup using the arm onto the wooden coaster."}
+{"task_index": 309, "task": "Lift the cup with light blue color up and drop it on the flat surface gray wooden coaster."}
+{"task_index": 310, "task": "Position the medium blue cylindrical cup on the flat surface gray wooden coaster with the arm."}
+{"task_index": 311, "task": "Move the blue rounded-bottom cup to the smooth round palm-sized coaster and set it down."}
+{"task_index": 312, "task": "Grab the medium-sized plastic blue cup and set it onto the flat surface gray wooden coaster."}
+{"task_index": 313, "task": "Stick the cup with smooth plastic surface onto the coaster made of smooth wood carefully."}
+{"task_index": 314, "task": "Slide the cup with light blue color onto the grainy texture coaster"}
+{"task_index": 315, "task": "Slide the medium blue cylindrical cup onto the round coaster with light streaks"}
+{"task_index": 316, "task": "Grab the cup for holding liquids and lower it onto the grainy texture coaster"}
+{"task_index": 317, "task": "Use the arm to position the cup with smooth plastic surface onto the grainy texture coaster."}
+{"task_index": 318, "task": "Stick the cup for holding liquids onto the small coaster with grain texture carefully."}
+{"task_index": 319, "task": "Grab the rounded base blue cup and place it on the round coaster."}
+{"task_index": 320, "task": "Slide the medium-sized plastic blue cup gently onto the small coaster with grain texture via the arm."}
+{"task_index": 321, "task": "Set the medium-sized plastic blue cup securely on the coaster made of smooth wood using the arm."}
+{"task_index": 322, "task": "Use an arm to place the light blue plastic cup on the coaster made of smooth wood"}
+{"task_index": 323, "task": "Use an arm to drop the cup with smooth plastic surface on the flat surface gray wooden coaster"}
+{"task_index": 324, "task": "Grab the rounded base blue cup and place it on the light gray round grainy coaster."}
+{"task_index": 325, "task": "Direct the cup with smooth plastic surface to the flat surface gray wooden coaster and let it rest."}
+{"task_index": 326, "task": "Grab the smooth blue drinking cup and lower it onto the round coaster with light streaks"}
+{"task_index": 327, "task": "Set the medium-sized plastic blue cup securely on the flat round wooden coaster using the arm."}
+{"task_index": 328, "task": "Use the arm to slide the cylindrical light blue cup onto the small coaster with grain texture."}
+{"task_index": 329, "task": "Move the cup for holding liquids to the light gray round grainy coaster using the arm."}
+{"task_index": 330, "task": "Use the arm to put the plastic cup for drinks onto the coaster made of smooth wood."}
+{"task_index": 331, "task": "Use arm to place the plastic cup for drinks on the light gray streaked wooden coaster"}
+{"task_index": 332, "task": "Stick the medium blue cylindrical cup onto the coaster made of smooth wood carefully."}
+{"task_index": 333, "task": "Move the medium blue cylindrical cup onto the flat round wooden coaster with the arm"}
+{"task_index": 334, "task": "Using the arm, drop the medium-sized plastic blue cup onto the coaster with circular shape."}
+{"task_index": 335, "task": "Lift the cup for holding liquids and stick it onto the smooth round palm-sized coaster."}
+{"task_index": 336, "task": "Move the medium-sized plastic blue cup to the light gray streaked wooden coaster and set it down."}
+{"task_index": 337, "task": "Move the medium blue cylindrical cup to the light gray round grainy coaster using the arm."}
+{"task_index": 338, "task": "Set the plastic cup for drinks securely on the wooden coaster using the arm."}
+{"task_index": 339, "task": "Move the smooth blue drinking cup onto the round coaster with the arm"}
+{"task_index": 340, "task": "Using the arm, slide the blue rounded-bottom cup onto the coaster with circular shape."}
+{"task_index": 341, "task": "Use the arm to position the blue rounded-bottom cup on the coaster with circular shape."}
+{"task_index": 342, "task": "Pick the cup with smooth plastic surface up and drop it on the light gray round grainy coaster."}
+{"task_index": 343, "task": "Use the arm to position the cup with smooth plastic surface on the flat round wooden coaster."}
+{"task_index": 344, "task": "Using the arm, drop the medium-sized plastic blue cup onto the flat surface gray wooden coaster."}
+{"task_index": 345, "task": "Direct the cylindrical light blue cup to the small coaster with grain texture and let it rest."}
+{"task_index": 346, "task": "Use an arm to place the smooth blue cup for liquids on the light gray round grainy coaster"}
+{"task_index": 347, "task": "Use an arm to drop the light blue plastic cup on the round coaster"}
+{"task_index": 348, "task": "Grab the medium-sized plastic blue cup and set it onto the coaster made of smooth wood."}
+{"task_index": 349, "task": "Using the arm, slide the medium-sized plastic blue cup onto the smooth round palm-sized coaster."}
+{"task_index": 350, "task": "Direct the rounded base blue cup to the wooden coaster and let it rest."}
+{"task_index": 351, "task": "Grab the rounded base blue cup and lower it onto the wooden coaster"}
+{"task_index": 352, "task": "Place the cup with light blue color on top of the smooth round palm-sized coaster"}
+{"task_index": 353, "task": "Grab the cup with light blue color and place it over the light gray streaked wooden coaster."}
+{"task_index": 354, "task": "Use the arm to set the light blue plastic cup on the coaster made of smooth wood"}
+{"task_index": 355, "task": "Use the arm to set the rounded base blue cup on the round coaster"}
+{"task_index": 356, "task": "Grab the cup with smooth plastic surface and set it onto the coaster with circular shape."}
+{"task_index": 357, "task": "Relocate the cup for holding liquids precisely onto the light gray streaked wooden coaster with arm"}
+{"task_index": 358, "task": "Pick the medium blue cylindrical cup up and drop it on the wooden coaster."}
+{"task_index": 359, "task": "Grab the plastic cup for drinks and place it over the coaster with circular shape."}
+{"task_index": 360, "task": "Move the cup with light blue color using the arm onto the round coaster with light streaks."}
+{"task_index": 361, "task": "Using the arm, slide the light blue plastic cup onto the wooden coaster."}
+{"task_index": 362, "task": "Lift the cup for holding liquids and place it onto the flat surface gray wooden coaster."}
+{"task_index": 363, "task": "Position the cup with light blue color squarely on top of the coaster made of smooth wood."}
+{"task_index": 364, "task": "Position the cylindrical light blue cup on the round coaster with the arm."}
+{"task_index": 365, "task": "Lift the cup with smooth plastic surface and place it over the small coaster with grain texture"}
+{"task_index": 366, "task": "Grab the medium blue cylindrical cup and lower it onto the light gray round grainy coaster"}
+{"task_index": 367, "task": "Position the plastic cup for drinks carefully on the light gray streaked wooden coaster"}
+{"task_index": 368, "task": "Relocate the rounded base blue cup precisely onto the coaster with circular shape with arm"}
+{"task_index": 369, "task": "Set the medium-sized plastic blue cup securely on the grainy texture coaster using the arm."}
+{"task_index": 370, "task": "Set the medium blue cylindrical cup down on the round coaster with light streaks"}
+{"task_index": 371, "task": "Position the cup with smooth plastic surface on the small coaster with grain texture with the arm."}
+{"task_index": 372, "task": "Align the cup with smooth plastic surface and set it down on the light gray streaked wooden coaster"}
+{"task_index": 373, "task": "Drop the smooth blue cup for liquids on top of the round coaster."}
+{"task_index": 374, "task": "Grab the blue rounded-bottom cup and place it over the flat round wooden coaster."}
+{"task_index": 375, "task": "Position the medium-sized plastic blue cup squarely on top of the light gray streaked wooden coaster."}
+{"task_index": 376, "task": "Grab the blue rounded-bottom cup and place it on the light gray round grainy coaster."}
+{"task_index": 377, "task": "Pick the smooth blue cup for liquids up and drop it on the light gray round grainy coaster."}
+{"task_index": 378, "task": "Grab the smooth blue cup for liquids and lower it onto the round coaster"}
+{"task_index": 379, "task": "Move the blue rounded-bottom cup using the arm onto the round coaster."}
+{"task_index": 380, "task": "Using the arm, slide the cylindrical light blue cup onto the small coaster with grain texture."}
+{"task_index": 381, "task": "Use an arm to drop the medium-sized plastic blue cup on the wooden coaster"}
+{"task_index": 382, "task": "Slide the plastic cup for drinks onto the light gray round grainy coaster with the arm."}
+{"task_index": 383, "task": "Position the smooth blue drinking cup carefully on the smooth round palm-sized coaster"}
+{"task_index": 384, "task": "Stick the smooth blue cup for liquids onto the smooth round palm-sized coaster using the arm."}
+{"task_index": 385, "task": "Slide the medium-sized plastic blue cup onto the round coaster with light streaks with the arm."}
+{"task_index": 386, "task": "Grab the cylindrical light blue cup and lower it onto the grainy texture coaster"}
+{"task_index": 387, "task": "Place the cup with light blue color on top of the light gray round grainy coaster"}
+{"task_index": 388, "task": "Use the arm to put the blue rounded-bottom cup onto the round coaster."}
+{"task_index": 389, "task": "Grab the plastic cup for drinks and set it onto the smooth round palm-sized coaster."}
+{"task_index": 390, "task": "Slide the light blue plastic cup onto the flat round wooden coaster with the arm."}
+{"task_index": 391, "task": "Stick the medium blue cylindrical cup onto the small coaster with grain texture using the arm."}
+{"task_index": 392, "task": "Make sure the cup with smooth plastic surface ends up on the small coaster with grain texture."}
+{"task_index": 393, "task": "Place the medium-sized plastic blue cup on top of the wooden coaster"}
+{"task_index": 394, "task": "Direct the light blue plastic cup to the coaster made of smooth wood and let it rest."}
+{"task_index": 395, "task": "Use the arm to put the rounded base blue cup onto the small coaster with grain texture."}
+{"task_index": 396, "task": "Place the smooth blue drinking cup on top of the round coaster with light streaks"}
+{"task_index": 397, "task": "Move the rounded base blue cup onto the light gray streaked wooden coaster with the arm"}
+{"task_index": 398, "task": "Place the blue rounded-bottom cup on top of the wooden coaster"}
+{"task_index": 399, "task": "Set the blue rounded-bottom cup on the light gray streaked wooden coaster using the arm."}
+{"task_index": 400, "task": "Use the arm to position the medium blue cylindrical cup onto the light gray streaked wooden coaster."}
+{"task_index": 401, "task": "Slide the blue rounded-bottom cup onto the small coaster with grain texture with the arm."}
+{"task_index": 402, "task": "Direct the light blue plastic cup to the wooden coaster and let it rest."}
+{"task_index": 403, "task": "Set the medium blue cylindrical cup on the coaster with circular shape using the arm."}
+{"task_index": 404, "task": "Using the arm, drop the plastic cup for drinks onto the small coaster with grain texture."}
+{"task_index": 405, "task": "Set the smooth blue cup for liquids onto the light gray round grainy coaster using the arm."}
+{"task_index": 406, "task": "Set the cup with smooth plastic surface carefully onto the flat surface gray wooden coaster"}
+{"task_index": 407, "task": "Use an arm to place the smooth blue drinking cup on the light gray streaked wooden coaster"}
+{"task_index": 408, "task": "Move the rounded base blue cup to the wooden coaster using the arm."}
+{"task_index": 409, "task": "Position the cup with light blue color squarely on top of the smooth round palm-sized coaster."}
+{"task_index": 410, "task": "Lift the rounded base blue cup up and drop it on the grainy texture coaster."}
+{"task_index": 411, "task": "Grab the plastic cup for drinks and set it onto the round coaster with light streaks."}
+{"task_index": 412, "task": "Use an arm to drop the cup with smooth plastic surface on the round coaster with light streaks"}
+{"task_index": 413, "task": "Pick the plastic cup for drinks up and drop it on the coaster with circular shape."}
+{"task_index": 414, "task": "Move the rounded base blue cup to the smooth round palm-sized coaster using the arm."}
+{"task_index": 415, "task": "Move the medium blue cylindrical cup to the round coaster using the arm."}
+{"task_index": 416, "task": "Lift the cylindrical light blue cup and stick it onto the wooden coaster."}
+{"task_index": 417, "task": "Position the cup with smooth plastic surface above and drop it on the light gray round grainy coaster"}
+{"task_index": 418, "task": "Stick the cup with smooth plastic surface onto the flat surface gray wooden coaster using the arm."}
+{"task_index": 419, "task": "Position the blue rounded-bottom cup above and drop it on the round coaster with light streaks"}
+{"task_index": 420, "task": "Using the arm, slide the medium-sized plastic blue cup onto the flat round wooden coaster."}
+{"task_index": 421, "task": "Set the plastic cup for drinks down on the round coaster"}
+{"task_index": 422, "task": "Slide the rounded base blue cup gently onto the smooth round palm-sized coaster via the arm."}
+{"task_index": 423, "task": "Lift the plastic cup for drinks and stick it onto the light gray round grainy coaster."}
+{"task_index": 424, "task": "Drop the light blue plastic cup on top of the wooden coaster."}
+{"task_index": 425, "task": "Use the arm to set the medium blue cylindrical cup on the light gray round grainy coaster"}
+{"task_index": 426, "task": "Place the smooth blue drinking cup on top of the smooth round palm-sized coaster"}
+{"task_index": 427, "task": "Slide the cup with smooth plastic surface gently onto the round coaster with light streaks via the arm."}
+{"task_index": 428, "task": "Set the plastic cup for drinks on the grainy texture coaster using the arm."}
+{"task_index": 429, "task": "Use an arm to drop the medium-sized plastic blue cup on the grainy texture coaster"}
+{"task_index": 430, "task": "Use an arm to drop the plastic cup for drinks on the coaster made of smooth wood."}
+{"task_index": 431, "task": "Use an arm to drop the rounded base blue cup on the light gray streaked wooden coaster"}
+{"task_index": 432, "task": "Align the blue rounded-bottom cup and set it down on the light gray streaked wooden coaster"}
+{"task_index": 433, "task": "Set the cup with light blue color down on the small coaster with grain texture"}
+{"task_index": 434, "task": "Using the arm, drop the cup for holding liquids onto the round coaster."}
+{"task_index": 435, "task": "Use an arm to drop the cup with light blue color on the coaster with circular shape"}
+{"task_index": 436, "task": "Position the smooth blue drinking cup squarely on top of the smooth round palm-sized coaster."}
+{"task_index": 437, "task": "Use the arm to position the smooth blue drinking cup on the flat surface gray wooden coaster."}
+{"task_index": 438, "task": "Lift the medium blue cylindrical cup up and drop it on the light gray streaked wooden coaster."}
+{"task_index": 439, "task": "Drop the medium blue cylindrical cup on top of the grainy texture coaster."}
+{"task_index": 440, "task": "Use arm to place the light blue plastic cup on the light gray streaked wooden coaster"}
+{"task_index": 441, "task": "Move the smooth blue cup for liquids to the round coaster with light streaks"}
+{"task_index": 442, "task": "Relocate the blue rounded-bottom cup precisely onto the flat surface gray wooden coaster with arm"}
+{"task_index": 443, "task": "Using the arm, align the cup with light blue color over the round coaster with light streaks"}
+{"task_index": 444, "task": "Set the medium blue cylindrical cup down on the wooden coaster"}
+{"task_index": 445, "task": "Use an arm to drop the cylindrical light blue cup on the light gray round grainy coaster."}
+{"task_index": 446, "task": "Grab the medium-sized plastic blue cup and place it over the wooden coaster."}
+{"task_index": 447, "task": "Move the smooth blue cup for liquids to the flat round wooden coaster"}
+{"task_index": 448, "task": "Set the cup for holding liquids down on the flat surface gray wooden coaster"}
+{"task_index": 449, "task": "Pick the light blue plastic cup up and drop it on the coaster with circular shape."}
+{"task_index": 450, "task": "Slide the smooth blue cup for liquids onto the small coaster with grain texture"}
+{"task_index": 451, "task": "Place the medium-sized plastic blue cup on top of the small coaster with grain texture"}
+{"task_index": 452, "task": "Slide the smooth blue cup for liquids onto the round coaster"}
+{"task_index": 453, "task": "Use the arm to slide the plastic cup for drinks onto the light gray round grainy coaster."}
+{"task_index": 454, "task": "Use an arm to drop the medium-sized plastic blue cup on the round coaster."}
+{"task_index": 455, "task": "Move the cup for holding liquids to the flat round wooden coaster using the arm."}
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+{"task_index": 473, "task": "Grab the cup with smooth plastic surface and set it onto the coaster made of smooth wood."}
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+{"task_index": 481, "task": "Position the blue rounded-bottom cup above and drop it on the light gray streaked wooden coaster"}
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+{"task_index": 484, "task": "Set the rounded base blue cup onto the smooth round palm-sized coaster using the arm."}
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