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+{"episode_index": 0, "tasks": ["Pick the barcode scanner with the left arm, grab the smooth tea box with print with the right arm, and scan the smooth tea box with print."], "length": 174}
+{"episode_index": 1, "tasks": ["Take the small black handheld scanner using the left arm, pick the small tea box with gold patterns using the right arm, and scan the small tea box with gold patterns with the small black handheld scanner."], "length": 167}
+{"episode_index": 2, "tasks": ["Grab the small black handheld scanner using one arm, pick the cube tea box with gold designs using the other arm, then scan the cube tea box with gold designs with the small black handheld scanner"], "length": 160}
+{"episode_index": 3, "tasks": ["Pick the tea box with beige edges, grab the barcode scanner, and use the scanner to scan the object."], "length": 181}
+{"episode_index": 4, "tasks": ["Grab the scanner with scanning head in one hand, pick the beige-edged green tea box in the other hand, then scan the beige-edged green tea box with the scanner with scanning head"], "length": 163}
+{"episode_index": 5, "tasks": ["Hold the scanner with curved handle, pick the tea-box, and scan the tea-box using the scanner with curved handle"], "length": 166}
+{"episode_index": 6, "tasks": ["Use the left arm to pick the scanner with pointed bottom tip, the right arm to grab the hard plastic tea-box, and scan the hard plastic tea-box using the scanner with pointed bottom tip."], "length": 170}
+{"episode_index": 7, "tasks": ["Handle the smooth plastic barcode scanner and the beige-edged green tea box separately, ensuring the smooth plastic barcode scanner scans the beige-edged green tea box."], "length": 176}
+{"episode_index": 8, "tasks": ["Take the black scanner in one hand, the cube tea box with embossed designs in the other, and perform the scan."], "length": 166}
+{"episode_index": 9, "tasks": ["Pick up the scanner with ergonomic grip design, hold the plastic tea-box, and use the scanner with ergonomic grip design to scan the plastic tea-box."], "length": 169}
+{"episode_index": 10, "tasks": ["Grab the scanner with blue scanning area in one hand, pick the tea-box with rectangular edges in the other hand, then scan the tea-box with rectangular edges with the scanner with blue scanning area"], "length": 167}
+{"episode_index": 11, "tasks": ["Pick the barcode scanner with flat top, grab the tea-box with white TEA text, then scan the tea-box with white TEA text using the barcode scanner with flat top."], "length": 173}
+{"episode_index": 12, "tasks": ["Take hold of the scanner with trigger on handle using the right arm, grab the light green cardboard tea box using the left arm, and scan it."], "length": 167}
+{"episode_index": 13, "tasks": ["Using the right arm, pick the compact black scanner for easy grip, then use the left arm to grab the printed tea-box and scan it."], "length": 180}
+{"episode_index": 14, "tasks": ["Take the rubber-grip yellow barcode scanner using the right arm, pick the cardboard tea box with logo using the left arm, and scan the cardboard tea box with logo with the rubber-grip yellow barcode scanner."], "length": 172}
+{"episode_index": 15, "tasks": ["Grab the rectangular yellow tea box, pick the small scanner system, and use the small scanner system to scan the rectangular yellow tea box."], "length": 161}
+{"episode_index": 16, "tasks": ["Take the black scanner with smooth texture, hold the golden tea box, and use the black scanner with smooth texture to scan it"], "length": 172}
+{"episode_index": 17, "tasks": ["Grab the black plastic scanner with blue trim using one arm, pick the box for holding tea using the other arm, then scan the box for holding tea with the black plastic scanner with blue trim"], "length": 172}
+{"episode_index": 18, "tasks": ["the left arm picks up the scanner for reading barcodes, the right arm holds the plastic tea-box, and you scan the plastic tea-box with the scanner for reading barcodes."], "length": 170}
+{"episode_index": 19, "tasks": ["Lift up the scanner with smooth black body, hold the tea-box with floral design, and scan the tea-box with floral design using the scanner."], "length": 174}
+{"episode_index": 20, "tasks": ["Hold the scanner for reading barcodes and the tea box with beige edges with different arms, then scan the tea box with beige edges using the scanner for reading barcodes."], "length": 167}
+{"episode_index": 21, "tasks": ["Pick the hand scanner with blue lens area, grab the golden tea box, and scan the golden tea box with the hand scanner with blue lens area."], "length": 167}
+{"episode_index": 22, "tasks": ["First, grab the smooth plastic barcode scanner, then pick the small cuboid tea box, and scan the small cuboid tea box using the smooth plastic barcode scanner."], "length": 163}
+{"episode_index": 23, "tasks": ["Lift up the smooth black scanner with blue stripe, hold the yellow tea box, and scan the yellow tea box using the scanner."], "length": 167}
+{"episode_index": 24, "tasks": ["Use the left arm to take the handheld scanner, use the right arm to pick the smooth black tea-box, and scan the smooth black tea-box using the handheld scanner."], "length": 175}
+{"episode_index": 25, "tasks": ["First, grab the lightweight handheld barcode scanner, then pick the compact golden tea box, and scan the compact golden tea box using the lightweight handheld barcode scanner."], "length": 167}
+{"episode_index": 26, "tasks": ["Use the right arm to take the handheld scanner, then grab the cuboid tea box with the left arm, and scan it."], "length": 175}
+{"episode_index": 27, "tasks": ["Using one hand for the scanner with blue scanning area and the other for the cube tea box with embossed designs, complete the scan."], "length": 168}
+{"episode_index": 28, "tasks": ["Use one arm for the handheld scanner and the other for the beige cube with golden leaf patterns, then scan the beige cube with golden leaf patterns with the handheld scanner"], "length": 163}
+{"episode_index": 29, "tasks": ["Hold the barcode scanner with gray accents in one arm, pick up the small rectangular tea-box with the other, then use the barcode scanner with gray accents to scan the small rectangular tea-box"], "length": 176}
+{"episode_index": 30, "tasks": ["Hold the black and gray portable scanner with the right arm and the tea-box with curved edges with the left arm, then scan the tea-box with curved edges using the black and gray portable scanner."], "length": 165}
+{"episode_index": 31, "tasks": ["Lift up the barcode scanner with flat top, hold the green box with tea label, and scan the green box with tea label using the scanner."], "length": 167}
+{"episode_index": 32, "tasks": ["Hold the black and gray portable scanner, pick the red cuboid-shaped tea-box, and scan the red cuboid-shaped tea-box using the black and gray portable scanner"], "length": 172}
+{"episode_index": 33, "tasks": ["Pick the compact black scanner for easy grip, grab the tea box with printed leaves, and scan it with the compact black scanner for easy grip"], "length": 176}
+{"episode_index": 34, "tasks": ["Hold the smooth tea-box with one hand, grab the black and gray portable scanner with the other, and scan the smooth tea-box."], "length": 163}
+{"episode_index": 35, "tasks": ["Grab the square-shaped tea-box, pick the scanner with black rubber grip, and use the scanner with black rubber grip to scan the square-shaped tea-box."], "length": 152}
+{"episode_index": 36, "tasks": ["Take hold of the compact black scanner for easy grip using the right arm, grab the red cuboid-shaped tea-box using the left arm, and scan it."], "length": 164}
+{"episode_index": 37, "tasks": ["Pick the black scanner, grab the black tea-box, and scan it with the black scanner."], "length": 167}
+{"episode_index": 38, "tasks": ["Pick the L-shaped scanner for barcode reading with the left arm, grab the golden tea box with the right arm, and scan the golden tea box."], "length": 173}
+{"episode_index": 39, "tasks": ["Pick the scanner with broad top flat area, grab the medium-sized red tea-box, then scan the medium-sized red tea-box using the scanner with broad top flat area."], "length": 169}
+{"episode_index": 40, "tasks": ["Pick the black plastic scanner with blue trim, grab the cube tea box with gold designs, and scan it with the black plastic scanner with blue trim."], "length": 170}
+{"episode_index": 41, "tasks": ["Grab the smooth plastic barcode scanner in one hand, pick the red cardboard tea-box in the other hand, then scan the red cardboard tea-box with the smooth plastic barcode scanner"], "length": 162}
+{"episode_index": 42, "tasks": ["Grab the scanner with black rubber grip in one hand, pick the decorative tea-box in the other hand, then scan the decorative tea-box with the scanner with black rubber grip"], "length": 167}
+{"episode_index": 43, "tasks": ["Pick the rectangular yellow tea box, grab the scanner with curved top and flat bottom, and use the scanner to scan the object."], "length": 163}
+{"episode_index": 44, "tasks": ["Pick the yellow and black code scanner, grab the compact tea-box, and scan the compact tea-box with the yellow and black code scanner."], "length": 173}
+{"episode_index": 45, "tasks": ["First, grab the compact black scanner for easy grip, then pick the leaf-patterned green tea storage, and scan the leaf-patterned green tea storage using the compact black scanner for easy grip."], "length": 188}
+{"episode_index": 46, "tasks": ["Using one hand for the black scanner and the other for the cardboard tea-box, complete the scan."], "length": 174}
+{"episode_index": 47, "tasks": ["Grab the scanner with curved top and flat bottom in one hand, pick the rectangular tea-box in the other hand, then scan the rectangular tea-box with the scanner with curved top and flat bottom"], "length": 170}
+{"episode_index": 48, "tasks": ["Grab the gold accented tea-box, pick the hand scanner with blue lens area, and use the hand scanner with blue lens area to scan the gold accented tea-box."], "length": 172}
+{"episode_index": 49, "tasks": ["First pick the hand scanner with blue lens area, then the red cardboard tea-box, and use the hand scanner with blue lens area to scan the red cardboard tea-box."], "length": 168}
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diff --git a/robotwin_scan_object_demo_clean_50/meta/info.json b/robotwin_scan_object_demo_clean_50/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f3187a4b50e5a632d25029a361bd70e4da49718
--- /dev/null
+++ b/robotwin_scan_object_demo_clean_50/meta/info.json
@@ -0,0 +1,170 @@
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diff --git a/robotwin_scan_object_demo_clean_50/meta/tasks.jsonl b/robotwin_scan_object_demo_clean_50/meta/tasks.jsonl
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+{"task_index": 0, "task": "Pick the barcode scanner with the left arm, grab the smooth tea box with print with the right arm, and scan the smooth tea box with print."}
+{"task_index": 1, "task": "Take the small black handheld scanner using the left arm, pick the small tea box with gold patterns using the right arm, and scan the small tea box with gold patterns with the small black handheld scanner."}
+{"task_index": 2, "task": "Grab the small black handheld scanner using one arm, pick the cube tea box with gold designs using the other arm, then scan the cube tea box with gold designs with the small black handheld scanner"}
+{"task_index": 3, "task": "Pick the tea box with beige edges, grab the barcode scanner, and use the scanner to scan the object."}
+{"task_index": 4, "task": "Grab the scanner with scanning head in one hand, pick the beige-edged green tea box in the other hand, then scan the beige-edged green tea box with the scanner with scanning head"}
+{"task_index": 5, "task": "Hold the scanner with curved handle, pick the tea-box, and scan the tea-box using the scanner with curved handle"}
+{"task_index": 6, "task": "Use the left arm to pick the scanner with pointed bottom tip, the right arm to grab the hard plastic tea-box, and scan the hard plastic tea-box using the scanner with pointed bottom tip."}
+{"task_index": 7, "task": "Handle the smooth plastic barcode scanner and the beige-edged green tea box separately, ensuring the smooth plastic barcode scanner scans the beige-edged green tea box."}
+{"task_index": 8, "task": "Take the black scanner in one hand, the cube tea box with embossed designs in the other, and perform the scan."}
+{"task_index": 9, "task": "Pick up the scanner with ergonomic grip design, hold the plastic tea-box, and use the scanner with ergonomic grip design to scan the plastic tea-box."}
+{"task_index": 10, "task": "Grab the scanner with blue scanning area in one hand, pick the tea-box with rectangular edges in the other hand, then scan the tea-box with rectangular edges with the scanner with blue scanning area"}
+{"task_index": 11, "task": "Pick the barcode scanner with flat top, grab the tea-box with white TEA text, then scan the tea-box with white TEA text using the barcode scanner with flat top."}
+{"task_index": 12, "task": "Take hold of the scanner with trigger on handle using the right arm, grab the light green cardboard tea box using the left arm, and scan it."}
+{"task_index": 13, "task": "Using the right arm, pick the compact black scanner for easy grip, then use the left arm to grab the printed tea-box and scan it."}
+{"task_index": 14, "task": "Take the rubber-grip yellow barcode scanner using the right arm, pick the cardboard tea box with logo using the left arm, and scan the cardboard tea box with logo with the rubber-grip yellow barcode scanner."}
+{"task_index": 15, "task": "Grab the rectangular yellow tea box, pick the small scanner system, and use the small scanner system to scan the rectangular yellow tea box."}
+{"task_index": 16, "task": "Take the black scanner with smooth texture, hold the golden tea box, and use the black scanner with smooth texture to scan it"}
+{"task_index": 17, "task": "Grab the black plastic scanner with blue trim using one arm, pick the box for holding tea using the other arm, then scan the box for holding tea with the black plastic scanner with blue trim"}
+{"task_index": 18, "task": "the left arm picks up the scanner for reading barcodes, the right arm holds the plastic tea-box, and you scan the plastic tea-box with the scanner for reading barcodes."}
+{"task_index": 19, "task": "Lift up the scanner with smooth black body, hold the tea-box with floral design, and scan the tea-box with floral design using the scanner."}
+{"task_index": 20, "task": "Hold the scanner for reading barcodes and the tea box with beige edges with different arms, then scan the tea box with beige edges using the scanner for reading barcodes."}
+{"task_index": 21, "task": "Pick the hand scanner with blue lens area, grab the golden tea box, and scan the golden tea box with the hand scanner with blue lens area."}
+{"task_index": 22, "task": "First, grab the smooth plastic barcode scanner, then pick the small cuboid tea box, and scan the small cuboid tea box using the smooth plastic barcode scanner."}
+{"task_index": 23, "task": "Lift up the smooth black scanner with blue stripe, hold the yellow tea box, and scan the yellow tea box using the scanner."}
+{"task_index": 24, "task": "Use the left arm to take the handheld scanner, use the right arm to pick the smooth black tea-box, and scan the smooth black tea-box using the handheld scanner."}
+{"task_index": 25, "task": "First, grab the lightweight handheld barcode scanner, then pick the compact golden tea box, and scan the compact golden tea box using the lightweight handheld barcode scanner."}
+{"task_index": 26, "task": "Use the right arm to take the handheld scanner, then grab the cuboid tea box with the left arm, and scan it."}
+{"task_index": 27, "task": "Using one hand for the scanner with blue scanning area and the other for the cube tea box with embossed designs, complete the scan."}
+{"task_index": 28, "task": "Use one arm for the handheld scanner and the other for the beige cube with golden leaf patterns, then scan the beige cube with golden leaf patterns with the handheld scanner"}
+{"task_index": 29, "task": "Hold the barcode scanner with gray accents in one arm, pick up the small rectangular tea-box with the other, then use the barcode scanner with gray accents to scan the small rectangular tea-box"}
+{"task_index": 30, "task": "Hold the black and gray portable scanner with the right arm and the tea-box with curved edges with the left arm, then scan the tea-box with curved edges using the black and gray portable scanner."}
+{"task_index": 31, "task": "Lift up the barcode scanner with flat top, hold the green box with tea label, and scan the green box with tea label using the scanner."}
+{"task_index": 32, "task": "Hold the black and gray portable scanner, pick the red cuboid-shaped tea-box, and scan the red cuboid-shaped tea-box using the black and gray portable scanner"}
+{"task_index": 33, "task": "Pick the compact black scanner for easy grip, grab the tea box with printed leaves, and scan it with the compact black scanner for easy grip"}
+{"task_index": 34, "task": "Hold the smooth tea-box with one hand, grab the black and gray portable scanner with the other, and scan the smooth tea-box."}
+{"task_index": 35, "task": "Grab the square-shaped tea-box, pick the scanner with black rubber grip, and use the scanner with black rubber grip to scan the square-shaped tea-box."}
+{"task_index": 36, "task": "Take hold of the compact black scanner for easy grip using the right arm, grab the red cuboid-shaped tea-box using the left arm, and scan it."}
+{"task_index": 37, "task": "Pick the black scanner, grab the black tea-box, and scan it with the black scanner."}
+{"task_index": 38, "task": "Pick the L-shaped scanner for barcode reading with the left arm, grab the golden tea box with the right arm, and scan the golden tea box."}
+{"task_index": 39, "task": "Pick the scanner with broad top flat area, grab the medium-sized red tea-box, then scan the medium-sized red tea-box using the scanner with broad top flat area."}
+{"task_index": 40, "task": "Pick the black plastic scanner with blue trim, grab the cube tea box with gold designs, and scan it with the black plastic scanner with blue trim."}
+{"task_index": 41, "task": "Grab the smooth plastic barcode scanner in one hand, pick the red cardboard tea-box in the other hand, then scan the red cardboard tea-box with the smooth plastic barcode scanner"}
+{"task_index": 42, "task": "Grab the scanner with black rubber grip in one hand, pick the decorative tea-box in the other hand, then scan the decorative tea-box with the scanner with black rubber grip"}
+{"task_index": 43, "task": "Pick the rectangular yellow tea box, grab the scanner with curved top and flat bottom, and use the scanner to scan the object."}
+{"task_index": 44, "task": "Pick the yellow and black code scanner, grab the compact tea-box, and scan the compact tea-box with the yellow and black code scanner."}
+{"task_index": 45, "task": "First, grab the compact black scanner for easy grip, then pick the leaf-patterned green tea storage, and scan the leaf-patterned green tea storage using the compact black scanner for easy grip."}
+{"task_index": 46, "task": "Using one hand for the black scanner and the other for the cardboard tea-box, complete the scan."}
+{"task_index": 47, "task": "Grab the scanner with curved top and flat bottom in one hand, pick the rectangular tea-box in the other hand, then scan the rectangular tea-box with the scanner with curved top and flat bottom"}
+{"task_index": 48, "task": "Grab the gold accented tea-box, pick the hand scanner with blue lens area, and use the hand scanner with blue lens area to scan the gold accented tea-box."}
+{"task_index": 49, "task": "First pick the hand scanner with blue lens area, then the red cardboard tea-box, and use the hand scanner with blue lens area to scan the red cardboard tea-box."}
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