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+{"episode_index": 17, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 355, "replicate_id": 1, "source_episode_index": 4}
+{"episode_index": 18, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 368, "replicate_id": 2, "source_episode_index": 4}
+{"episode_index": 19, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 341, "replicate_id": 3, "source_episode_index": 4}
+{"episode_index": 20, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 394, "replicate_id": 0, "source_episode_index": 5}
+{"episode_index": 21, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 362, "replicate_id": 1, "source_episode_index": 5}
+{"episode_index": 22, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 373, "replicate_id": 2, "source_episode_index": 5}
+{"episode_index": 23, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 352, "replicate_id": 3, "source_episode_index": 5}
+{"episode_index": 24, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 390, "replicate_id": 0, "source_episode_index": 6}
+{"episode_index": 25, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 352, "replicate_id": 1, "source_episode_index": 6}
+{"episode_index": 26, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 361, "replicate_id": 2, "source_episode_index": 6}
+{"episode_index": 27, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 335, "replicate_id": 3, "source_episode_index": 6}
+{"episode_index": 28, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 395, "replicate_id": 0, "source_episode_index": 7}
+{"episode_index": 29, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 355, "replicate_id": 1, "source_episode_index": 7}
+{"episode_index": 30, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 370, "replicate_id": 2, "source_episode_index": 7}
+{"episode_index": 31, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 337, "replicate_id": 3, "source_episode_index": 7}
+{"episode_index": 32, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 394, "replicate_id": 0, "source_episode_index": 8}
+{"episode_index": 33, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 357, "replicate_id": 1, "source_episode_index": 8}
+{"episode_index": 34, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 372, "replicate_id": 2, "source_episode_index": 8}
+{"episode_index": 35, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 348, "replicate_id": 3, "source_episode_index": 8}
+{"episode_index": 36, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 399, "replicate_id": 0, "source_episode_index": 9}
+{"episode_index": 37, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 352, "replicate_id": 1, "source_episode_index": 9}
+{"episode_index": 38, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 365, "replicate_id": 2, "source_episode_index": 9}
+{"episode_index": 39, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 331, "replicate_id": 3, "source_episode_index": 9}
+{"episode_index": 40, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 407, "replicate_id": 0, "source_episode_index": 10}
+{"episode_index": 41, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 357, "replicate_id": 1, "source_episode_index": 10}
+{"episode_index": 42, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 376, "replicate_id": 2, "source_episode_index": 10}
+{"episode_index": 43, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 336, "replicate_id": 3, "source_episode_index": 10}
+{"episode_index": 44, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 396, "replicate_id": 0, "source_episode_index": 11}
+{"episode_index": 45, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 359, "replicate_id": 1, "source_episode_index": 11}
+{"episode_index": 46, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 366, "replicate_id": 2, "source_episode_index": 11}
+{"episode_index": 47, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 338, "replicate_id": 3, "source_episode_index": 11}
+{"episode_index": 48, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 393, "replicate_id": 0, "source_episode_index": 12}
+{"episode_index": 49, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 350, "replicate_id": 1, "source_episode_index": 12}
+{"episode_index": 50, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 363, "replicate_id": 2, "source_episode_index": 12}
+{"episode_index": 51, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 337, "replicate_id": 3, "source_episode_index": 12}
+{"episode_index": 52, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 406, "replicate_id": 0, "source_episode_index": 13}
+{"episode_index": 53, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 362, "replicate_id": 1, "source_episode_index": 13}
+{"episode_index": 54, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 376, "replicate_id": 2, "source_episode_index": 13}
+{"episode_index": 55, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 347, "replicate_id": 3, "source_episode_index": 13}
+{"episode_index": 56, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 378, "replicate_id": 0, "source_episode_index": 14}
+{"episode_index": 57, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 340, "replicate_id": 1, "source_episode_index": 14}
+{"episode_index": 58, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 352, "replicate_id": 2, "source_episode_index": 14}
+{"episode_index": 59, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 324, "replicate_id": 3, "source_episode_index": 14}
+{"episode_index": 60, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 404, "replicate_id": 0, "source_episode_index": 15}
+{"episode_index": 61, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 370, "replicate_id": 1, "source_episode_index": 15}
+{"episode_index": 62, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 383, "replicate_id": 2, "source_episode_index": 15}
+{"episode_index": 63, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 359, "replicate_id": 3, "source_episode_index": 15}
+{"episode_index": 64, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 404, "replicate_id": 0, "source_episode_index": 16}
+{"episode_index": 65, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 352, "replicate_id": 1, "source_episode_index": 16}
+{"episode_index": 66, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 368, "replicate_id": 2, "source_episode_index": 16}
+{"episode_index": 67, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 331, "replicate_id": 3, "source_episode_index": 16}
+{"episode_index": 68, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 403, "replicate_id": 0, "source_episode_index": 17}
+{"episode_index": 69, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 352, "replicate_id": 1, "source_episode_index": 17}
+{"episode_index": 70, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 367, "replicate_id": 2, "source_episode_index": 17}
+{"episode_index": 71, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 335, "replicate_id": 3, "source_episode_index": 17}
+{"episode_index": 72, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 391, "replicate_id": 0, "source_episode_index": 18}
+{"episode_index": 73, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 363, "replicate_id": 1, "source_episode_index": 18}
+{"episode_index": 74, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 375, "replicate_id": 2, "source_episode_index": 18}
+{"episode_index": 75, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 354, "replicate_id": 3, "source_episode_index": 18}
+{"episode_index": 76, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 415, "replicate_id": 0, "source_episode_index": 19}
+{"episode_index": 77, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 364, "replicate_id": 1, "source_episode_index": 19}
+{"episode_index": 78, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 380, "replicate_id": 2, "source_episode_index": 19}
+{"episode_index": 79, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 345, "replicate_id": 3, "source_episode_index": 19}
+{"episode_index": 80, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 383, "replicate_id": 0, "source_episode_index": 20}
+{"episode_index": 81, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 344, "replicate_id": 1, "source_episode_index": 20}
+{"episode_index": 82, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 360, "replicate_id": 2, "source_episode_index": 20}
+{"episode_index": 83, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 329, "replicate_id": 3, "source_episode_index": 20}
+{"episode_index": 84, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 399, "replicate_id": 0, "source_episode_index": 21}
+{"episode_index": 85, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 347, "replicate_id": 1, "source_episode_index": 21}
+{"episode_index": 86, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 369, "replicate_id": 2, "source_episode_index": 21}
+{"episode_index": 87, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 329, "replicate_id": 3, "source_episode_index": 21}
+{"episode_index": 88, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 396, "replicate_id": 0, "source_episode_index": 22}
+{"episode_index": 89, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 347, "replicate_id": 1, "source_episode_index": 22}
+{"episode_index": 90, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 361, "replicate_id": 2, "source_episode_index": 22}
+{"episode_index": 91, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 323, "replicate_id": 3, "source_episode_index": 22}
+{"episode_index": 92, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 405, "replicate_id": 0, "source_episode_index": 23}
+{"episode_index": 93, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 352, "replicate_id": 1, "source_episode_index": 23}
+{"episode_index": 94, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 365, "replicate_id": 2, "source_episode_index": 23}
+{"episode_index": 95, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 330, "replicate_id": 3, "source_episode_index": 23}
+{"episode_index": 96, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 422, "replicate_id": 0, "source_episode_index": 24}
+{"episode_index": 97, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 378, "replicate_id": 1, "source_episode_index": 24}
+{"episode_index": 98, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 394, "replicate_id": 2, "source_episode_index": 24}
+{"episode_index": 99, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 362, "replicate_id": 3, "source_episode_index": 24}
+{"episode_index": 100, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 404, "replicate_id": 0, "source_episode_index": 25}
+{"episode_index": 101, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 365, "replicate_id": 1, "source_episode_index": 25}
+{"episode_index": 102, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 380, "replicate_id": 2, "source_episode_index": 25}
+{"episode_index": 103, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 347, "replicate_id": 3, "source_episode_index": 25}
+{"episode_index": 104, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 394, "replicate_id": 0, "source_episode_index": 26}
+{"episode_index": 105, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 367, "replicate_id": 1, "source_episode_index": 26}
+{"episode_index": 106, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 376, "replicate_id": 2, "source_episode_index": 26}
+{"episode_index": 107, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 357, "replicate_id": 3, "source_episode_index": 26}
+{"episode_index": 108, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 397, "replicate_id": 0, "source_episode_index": 27}
+{"episode_index": 109, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 361, "replicate_id": 1, "source_episode_index": 27}
+{"episode_index": 110, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 371, "replicate_id": 2, "source_episode_index": 27}
+{"episode_index": 111, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 346, "replicate_id": 3, "source_episode_index": 27}
+{"episode_index": 112, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 381, "replicate_id": 0, "source_episode_index": 28}
+{"episode_index": 113, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 350, "replicate_id": 1, "source_episode_index": 28}
+{"episode_index": 114, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 365, "replicate_id": 2, "source_episode_index": 28}
+{"episode_index": 115, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 330, "replicate_id": 3, "source_episode_index": 28}
+{"episode_index": 116, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 390, "replicate_id": 0, "source_episode_index": 29}
+{"episode_index": 117, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 358, "replicate_id": 1, "source_episode_index": 29}
+{"episode_index": 118, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 367, "replicate_id": 2, "source_episode_index": 29}
+{"episode_index": 119, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 339, "replicate_id": 3, "source_episode_index": 29}
+{"episode_index": 120, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 367, "replicate_id": 0, "source_episode_index": 30}
+{"episode_index": 121, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 332, "replicate_id": 1, "source_episode_index": 30}
+{"episode_index": 122, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 348, "replicate_id": 2, "source_episode_index": 30}
+{"episode_index": 123, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 314, "replicate_id": 3, "source_episode_index": 30}
+{"episode_index": 124, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 398, "replicate_id": 0, "source_episode_index": 31}
+{"episode_index": 125, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 361, "replicate_id": 1, "source_episode_index": 31}
+{"episode_index": 126, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 375, "replicate_id": 2, "source_episode_index": 31}
+{"episode_index": 127, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 347, "replicate_id": 3, "source_episode_index": 31}
+{"episode_index": 128, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 431, "replicate_id": 0, "source_episode_index": 32}
+{"episode_index": 129, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 369, "replicate_id": 1, "source_episode_index": 32}
+{"episode_index": 130, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 390, "replicate_id": 2, "source_episode_index": 32}
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+{"episode_index": 132, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 378, "replicate_id": 0, "source_episode_index": 33}
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+{"episode_index": 134, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 354, "replicate_id": 2, "source_episode_index": 33}
+{"episode_index": 135, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 334, "replicate_id": 3, "source_episode_index": 33}
+{"episode_index": 136, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 390, "replicate_id": 0, "source_episode_index": 34}
+{"episode_index": 137, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 355, "replicate_id": 1, "source_episode_index": 34}
+{"episode_index": 138, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 365, "replicate_id": 2, "source_episode_index": 34}
+{"episode_index": 139, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 337, "replicate_id": 3, "source_episode_index": 34}
+{"episode_index": 140, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 395, "replicate_id": 0, "source_episode_index": 35}
+{"episode_index": 141, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 351, "replicate_id": 1, "source_episode_index": 35}
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+{"episode_index": 143, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 329, "replicate_id": 3, "source_episode_index": 35}
+{"episode_index": 144, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 387, "replicate_id": 0, "source_episode_index": 36}
+{"episode_index": 145, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 350, "replicate_id": 1, "source_episode_index": 36}
+{"episode_index": 146, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 363, "replicate_id": 2, "source_episode_index": 36}
+{"episode_index": 147, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 334, "replicate_id": 3, "source_episode_index": 36}
+{"episode_index": 148, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 392, "replicate_id": 0, "source_episode_index": 37}
+{"episode_index": 149, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 349, "replicate_id": 1, "source_episode_index": 37}
+{"episode_index": 150, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 358, "replicate_id": 2, "source_episode_index": 37}
+{"episode_index": 151, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 330, "replicate_id": 3, "source_episode_index": 37}
+{"episode_index": 152, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 405, "replicate_id": 0, "source_episode_index": 38}
+{"episode_index": 153, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 365, "replicate_id": 1, "source_episode_index": 38}
+{"episode_index": 154, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 384, "replicate_id": 2, "source_episode_index": 38}
+{"episode_index": 155, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 352, "replicate_id": 3, "source_episode_index": 38}
+{"episode_index": 156, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 397, "replicate_id": 0, "source_episode_index": 39}
+{"episode_index": 157, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 352, "replicate_id": 1, "source_episode_index": 39}
+{"episode_index": 158, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 360, "replicate_id": 2, "source_episode_index": 39}
+{"episode_index": 159, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 332, "replicate_id": 3, "source_episode_index": 39}
+{"episode_index": 160, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 413, "replicate_id": 0, "source_episode_index": 40}
+{"episode_index": 161, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 367, "replicate_id": 1, "source_episode_index": 40}
+{"episode_index": 162, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 383, "replicate_id": 2, "source_episode_index": 40}
+{"episode_index": 163, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 349, "replicate_id": 3, "source_episode_index": 40}
+{"episode_index": 164, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 405, "replicate_id": 0, "source_episode_index": 41}
+{"episode_index": 165, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 359, "replicate_id": 1, "source_episode_index": 41}
+{"episode_index": 166, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 377, "replicate_id": 2, "source_episode_index": 41}
+{"episode_index": 167, "tasks": ["Pick the rightmost red cup, then the leftmost yellow cup, then the inner red cup, and finally the inner yellow cup on the left. Use a side-pick grasp. Place each red cup into the right bin and each yellow cup into the left bin."], "length": 345, "replicate_id": 3, "source_episode_index": 41}
diff --git a/meta/episodes_stats.jsonl b/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d7151c9d120033cbc33d261f381a962a1de3f96
--- /dev/null
+++ b/meta/episodes_stats.jsonl
@@ -0,0 +1,168 @@
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diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bd96c94e16f61ad536ed2743da5f354fc43ead1
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,169 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..4db4606756d97067bfc173e88ce4fcb4d0b1ec0a
--- /dev/null
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