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+{"episode_index": 35, "tasks": ["Catch the Coca-Cola bottle, then catch the bottle with narrow top after."], "length": 127}
+{"episode_index": 36, "tasks": ["Catch the red-capped bottle in one hand and the medium green bottle too."], "length": 128}
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diff --git a/robotwin_pick_dual_bottles/meta/info.json b/robotwin_pick_dual_bottles/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..54a7dfad6a9c813ec0002903fac0bf0e7acc7144
--- /dev/null
+++ b/robotwin_pick_dual_bottles/meta/info.json
@@ -0,0 +1,140 @@
+{
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+                    "left_gripper",
+                    "right_waist",
+                    "right_shoulder",
+                    "right_elbow",
+                    "right_forearm_roll",
+                    "right_wrist_angle",
+                    "right_wrist_rotate",
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+        }
+    }
+}
\ No newline at end of file
diff --git a/robotwin_pick_dual_bottles/meta/tasks.jsonl b/robotwin_pick_dual_bottles/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0f28c219919acba692bfaad08df7891421bb7aec
--- /dev/null
+++ b/robotwin_pick_dual_bottles/meta/tasks.jsonl
@@ -0,0 +1,50 @@
+{"task_index": 0, "task": "Catch the bottle with white neck and red top with one hand, catch the medium green bottle with the other."}
+{"task_index": 1, "task": "Pick the bottle with white neck and red top first, then pick the medium green bottle without mentioning arms."}
+{"task_index": 2, "task": "Pick the long thin bottle with one hand, the handheld green bottle with another."}
+{"task_index": 3, "task": "Reach for the bottle with white neck and red top, then grab the medium green bottle."}
+{"task_index": 4, "task": "Lift the long thin bottle and the medium green bottle together with both hands."}
+{"task_index": 5, "task": "Use each arm to hold the red-capped bottle and the bottle with rounded neck."}
+{"task_index": 6, "task": "Grab the bottle with white neck and red top first, then grab the smooth green bottle second."}
+{"task_index": 7, "task": "Take the medium dark brown bottle with one arm, hold the medium green bottle too."}
+{"task_index": 8, "task": "Catch the dark drink bottle with logo first, then catch the bottle with rounded neck."}
+{"task_index": 9, "task": "Catch the medium dark brown bottle, then catch the medium green bottle with capped neck without mentioning arms."}
+{"task_index": 10, "task": "Grab and lift the brown bottle with red label, then lift the bottle with narrow top next."}
+{"task_index": 11, "task": "Pick up the red-capped bottle and the medium green bottle with capped neck using separate hands."}
+{"task_index": 12, "task": "Catch the dark drink bottle with logo with one hand, catch the medium-sized green bottle with the other."}
+{"task_index": 13, "task": "Use one arm for the dark drink bottle with logo and the other for the handheld green bottle."}
+{"task_index": 14, "task": "Handle the medium dark brown bottle and the smooth green bottle together without arm details."}
+{"task_index": 15, "task": "Use each arm to hold the dark drink bottle with logo and the smooth green bottle."}
+{"task_index": 16, "task": "Pick the narrow-necked bottle with one hand, pick the plastic bottle next."}
+{"task_index": 17, "task": "Lift the narrow-necked bottle and the smooth green plastic bottle together with both hands."}
+{"task_index": 18, "task": "Pick the bottle with ridges on bottom first, then pick the green bottle with indented base without mentioning arms."}
+{"task_index": 19, "task": "Hold the brown bottle with red label in one hand and the smooth green bottle in another."}
+{"task_index": 20, "task": "Grasp the plastic drink bottle and the bottle with white printed label with both arms."}
+{"task_index": 21, "task": "Hold the bottle with white neck and red top and the bottle with ridges near base using both arms."}
+{"task_index": 22, "task": "Grab the dark drink bottle with logo with one arm, the bottle with ridges near base with the other."}
+{"task_index": 23, "task": "Grab the bottles the Coca-Cola bottle and the medium-sized green bottle."}
+{"task_index": 24, "task": "Use one arm for the medium dark brown bottle and the other for the bottle with white printed label."}
+{"task_index": 25, "task": "Lift the red-capped bottle with one arm and the bottle with rounded neck with the other."}
+{"task_index": 26, "task": "Secure the hand-sized soda bottle in one hand, the handheld green bottle in other."}
+{"task_index": 27, "task": "Pick the long thin bottle first, then pick the bottle with narrow top without mentioning arms."}
+{"task_index": 28, "task": "Lift the dark drink bottle with logo with one arm and the bottle with narrow top with the other."}
+{"task_index": 29, "task": "Hold the narrow-necked bottle in one hand, then hold the bottle with narrow top in the other."}
+{"task_index": 30, "task": "Hold the plastic drink bottle in one hand, then hold the green bottle with indented base in the other."}
+{"task_index": 31, "task": "Catch the smooth bottle with red lid with one arm, then grab the handheld green bottle."}
+{"task_index": 32, "task": "Use each arm to hold the medium dark brown bottle and the medium green bottle with capped neck."}
+{"task_index": 33, "task": "Hold the long thin bottle and the medium-sized green bottle using both arms separately."}
+{"task_index": 34, "task": "Catch the brown bottle with red label, then catch the plastic bottle without mentioning arms."}
+{"task_index": 35, "task": "Catch the Coca-Cola bottle, then catch the bottle with narrow top after."}
+{"task_index": 36, "task": "Catch the red-capped bottle in one hand and the medium green bottle too."}
+{"task_index": 37, "task": "Grab the dark drink bottle with logo and the bottle with rounded neck one by one."}
+{"task_index": 38, "task": "Catch the bottle with white neck and red top with one arm, then grab the green bottle with indented base."}
+{"task_index": 39, "task": "Lift the bottle with ridges on bottom in one arm and the smooth green plastic bottle in the other."}
+{"task_index": 40, "task": "Hold the medium dark brown bottle and the bottle with narrow top using both arms."}
+{"task_index": 41, "task": "Pick up the hand-sized soda bottle and the medium-sized green bottle using separate hands."}
+{"task_index": 42, "task": "Take the hand-sized soda bottle, then use the other arm for the medium-sized green bottle."}
+{"task_index": 43, "task": "Raise the hand-sized soda bottle first, then grab the bottle with ridges near base next."}
+{"task_index": 44, "task": "Take the brown bottle with red label with one arm, hold the smooth green plastic bottle too."}
+{"task_index": 45, "task": "Catch the smooth bottle with red lid, then catch the medium green bottle with capped neck after."}
+{"task_index": 46, "task": "Grasp the plastic drink bottle and the handheld green bottle with both arms."}
+{"task_index": 47, "task": "Lift the dark drink bottle with logo in one arm and the green bottle with indented base in the other."}
+{"task_index": 48, "task": "Lift the medium dark brown bottle in one hand and the medium green bottle in the other."}
+{"task_index": 49, "task": "Hold the hand-sized soda bottle in one hand, the handheld green bottle in another."}