diff --git a/task_05_remove_container_lid/meta/episodes.jsonl b/task_05_remove_container_lid/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d42de4f7c92b188ff0c4ace3833b6b0ce83204ba
--- /dev/null
+++ b/task_05_remove_container_lid/meta/episodes.jsonl
@@ -0,0 +1,500 @@
+{"episode_index": 0, "tasks": ["Remove the stopper from the transparent reagent bottle on the left side of the table, place the stopper on the clean tray to the right, and return both robotic arms to their home positions. Do not manipulate the smaller bottle at the back of the table."], "length": 684}
+{"episode_index": 1, "tasks": ["Use the left robotic arm to hold the transparent reagent bottle on the left steady. Use the right robotic arm to remove its stopper and place the stopper on the clean tray. Return both arms to their home positions without touching any other objects."], "length": 659}
+{"episode_index": 2, "tasks": ["Stabilize the front-left transparent reagent bottle with the left robotic arm. Remove the bottle stopper with the right robotic arm and transfer it to the clean tray on the right. Do not interact with the smaller bottle behind it. Return both robotic arms to their home positions."], "length": 652}
+{"episode_index": 3, "tasks": ["Use the left arm to secure the transparent reagent bottle located at the front-left of the table. With the right arm, take the stopper out of the bottle and place it on the clean tray to the right. Avoid contact with all other objects, then return both arms to their home positions."], "length": 666}
+{"episode_index": 4, "tasks": ["Hold the left-side transparent reagent bottle stationary with the left robotic arm while the right robotic arm removes the stopper. Place the removed stopper on the clean tray on the right, and return both robotic arms to their home positions. Leave the rear bottle untouched."], "length": 674}
+{"episode_index": 5, "tasks": ["With the left robotic arm, stabilize the transparent reagent bottle positioned closest to the front-left side of the table. With the right robotic arm, grasp and remove the stopper, move it to the clean tray, and release it onto the tray. Do not touch the smaller bottle at the back or any other object. Return both arms to their home positions."], "length": 780}
+{"episode_index": 6, "tasks": ["Secure the transparent reagent bottle on the left with the left arm. Use the right arm to extract the stopper from the bottle opening and place it on the clean tray to the right. Keep the rear bottle undisturbed and return both robotic arms to their home positions."], "length": 736}
+{"episode_index": 7, "tasks": ["Use the left robotic arm to prevent the front-left transparent reagent bottle from moving. Use the right robotic arm to grasp the stopper, lift it out of the bottle, and place it securely on the clean tray. Avoid all unintended contact and move both arms back to their home positions."], "length": 720}
+{"episode_index": 8, "tasks": ["Hold the body of the transparent reagent bottle at the front-left of the table with the left robotic arm. Use the right robotic arm to remove the stopper from the bottle and set it down on the clean tray to the right. Do not operate on the smaller rear bottle. Return both arms to their home positions."], "length": 755}
+{"episode_index": 9, "tasks": ["Stabilize the target reagent bottle, which is the transparent bottle on the left side of the table, using the left robotic arm. Remove its stopper using the right robotic arm and place the stopper inside the clean tray on the right. Do not touch the bottle at the back or any other object. Return both arms to their home positions."], "length": 719}
+{"episode_index": 10, "tasks": ["The left robotic arm must hold the front-left transparent reagent bottle steady. The right robotic arm must grasp the bottle stopper, remove it from the bottle opening, and transfer it to the clean tray. The smaller bottle behind the target bottle must remain untouched. After placing the stopper, return both arms to their home positions."], "length": 739}
+{"episode_index": 11, "tasks": ["Use the left arm to firmly stabilize the transparent reagent bottle located in the front-left area. Use the right arm to grasp and lift the stopper vertically out of the bottle opening, transfer it without contacting surrounding objects, and place it on the clean tray to the right. Return both arms to their home positions."], "length": 815}
+{"episode_index": 12, "tasks": ["Fix the position of the left-side transparent reagent bottle with the left robotic arm. With the right robotic arm, carefully remove the stopper and move it directly to the clean tray on the right without touching the other bottle or the nearby equipment. Release the stopper on the tray and return both arms to their home positions."], "length": 655}
+{"episode_index": 13, "tasks": ["Operate only on the transparent reagent bottle at the front-left of the table. Stabilize this bottle with the left robotic arm, remove its stopper with the right robotic arm, and place the stopper on the clean tray to the right. Do not touch or move the smaller bottle at the back. Return both robotic arms to their home positions."], "length": 736}
+{"episode_index": 14, "tasks": ["Use the left robotic arm to grasp and stabilize the body of the target transparent reagent bottle on the left. Position the right robotic arm at the stopper, grasp the stopper securely, and remove it from the bottle opening. Transfer the stopper to the clean tray on the right and release it without contacting other objects. Return both arms to their home positions."], "length": 837}
+{"episode_index": 15, "tasks": ["Keep the front-left transparent reagent bottle stationary with the left arm. Use the right arm to grasp the stopper, lift it clear of the bottle opening, transport it to the center area of the clean tray, and place it down. The smaller rear bottle is a distractor and must not be touched. Return both arms to their home positions."], "length": 751}
+{"episode_index": 16, "tasks": ["Stabilize the transparent reagent bottle nearest the left-front edge of the table using the left robotic arm. Using the right robotic arm, remove the stopper from this bottle and place it completely within the clean tray on the right. Maintain clearance from the rear bottle and all other objects throughout the motion. Return both arms to their home positions."], "length": 742}
+{"episode_index": 17, "tasks": ["First, move the left robotic arm to the transparent reagent bottle on the left and hold the bottle securely in place. Next, move the right robotic arm to the stopper, grasp it, and remove it from the bottle. Transfer the stopper to the clean tray on the right and release it onto the tray. Do not contact the smaller bottle behind the target bottle or any other object. Finally, return both robotic arms to their home positions."], "length": 676}
+{"episode_index": 18, "tasks": ["With the left robotic arm, stabilize the body of the front-left transparent reagent bottle without lifting or relocating the bottle. With the right robotic arm, grasp the stopper, withdraw it fully from the bottle opening, and carry it to the clean tray on the right. Place the stopper stably on the tray while avoiding contact with surrounding objects. Leave the smaller rear bottle unchanged, then return both arms to their home positions."], "length": 705}
+{"episode_index": 19, "tasks": ["Identify the target as the transparent reagent bottle positioned at the front-left of the workspace, not the smaller bottle located behind it. Use the left robotic arm to hold the target bottle stationary. Use the right robotic arm to grasp and completely remove the stopper, transfer the stopper to the clean tray on the right without touching any other objects, and place it securely on the tray. After releasing the stopper, return both robotic arms to their home positions."], "length": 676}
+{"episode_index": 20, "tasks": ["Remove the stopper from the transparent reagent bottle on the left side of the table, place the stopper on the clean tray to the right, and return both robotic arms to their home positions. Do not manipulate the smaller bottle at the back of the table."], "length": 686}
+{"episode_index": 21, "tasks": ["Use the left robotic arm to hold the transparent reagent bottle on the left steady. Use the right robotic arm to remove its stopper and place the stopper on the clean tray. Return both arms to their home positions without touching any other objects."], "length": 730}
+{"episode_index": 22, "tasks": ["Stabilize the front-left transparent reagent bottle with the left robotic arm. Remove the bottle stopper with the right robotic arm and transfer it to the clean tray on the right. Do not interact with the smaller bottle behind it. Return both robotic arms to their home positions."], "length": 685}
+{"episode_index": 23, "tasks": ["Use the left arm to secure the transparent reagent bottle located at the front-left of the table. With the right arm, take the stopper out of the bottle and place it on the clean tray to the right. Avoid contact with all other objects, then return both arms to their home positions."], "length": 797}
+{"episode_index": 24, "tasks": ["Hold the left-side transparent reagent bottle stationary with the left robotic arm while the right robotic arm removes the stopper. Place the removed stopper on the clean tray on the right, and return both robotic arms to their home positions. Leave the rear bottle untouched."], "length": 512}
+{"episode_index": 25, "tasks": ["With the left robotic arm, stabilize the transparent reagent bottle positioned closest to the front-left side of the table. With the right robotic arm, grasp and remove the stopper, move it to the clean tray, and release it onto the tray. Do not touch the smaller bottle at the back or any other object. Return both arms to their home positions."], "length": 1035}
+{"episode_index": 26, "tasks": ["Secure the transparent reagent bottle on the left with the left arm. Use the right arm to extract the stopper from the bottle opening and place it on the clean tray to the right. Keep the rear bottle undisturbed and return both robotic arms to their home positions."], "length": 744}
+{"episode_index": 27, "tasks": ["Use the left robotic arm to prevent the front-left transparent reagent bottle from moving. Use the right robotic arm to grasp the stopper, lift it out of the bottle, and place it securely on the clean tray. Avoid all unintended contact and move both arms back to their home positions."], "length": 747}
+{"episode_index": 28, "tasks": ["Hold the body of the transparent reagent bottle at the front-left of the table with the left robotic arm. Use the right robotic arm to remove the stopper from the bottle and set it down on the clean tray to the right. Do not operate on the smaller rear bottle. Return both arms to their home positions."], "length": 747}
+{"episode_index": 29, "tasks": ["Stabilize the target reagent bottle, which is the transparent bottle on the left side of the table, using the left robotic arm. Remove its stopper using the right robotic arm and place the stopper inside the clean tray on the right. Do not touch the bottle at the back or any other object. Return both arms to their home positions."], "length": 689}
+{"episode_index": 30, "tasks": ["The left robotic arm must hold the front-left transparent reagent bottle steady. The right robotic arm must grasp the bottle stopper, remove it from the bottle opening, and transfer it to the clean tray. The smaller bottle behind the target bottle must remain untouched. After placing the stopper, return both arms to their home positions."], "length": 695}
+{"episode_index": 31, "tasks": ["Use the left arm to firmly stabilize the transparent reagent bottle located in the front-left area. Use the right arm to grasp and lift the stopper vertically out of the bottle opening, transfer it without contacting surrounding objects, and place it on the clean tray to the right. Return both arms to their home positions."], "length": 721}
+{"episode_index": 32, "tasks": ["Fix the position of the left-side transparent reagent bottle with the left robotic arm. With the right robotic arm, carefully remove the stopper and move it directly to the clean tray on the right without touching the other bottle or the nearby equipment. Release the stopper on the tray and return both arms to their home positions."], "length": 580}
+{"episode_index": 33, "tasks": ["Operate only on the transparent reagent bottle at the front-left of the table. Stabilize this bottle with the left robotic arm, remove its stopper with the right robotic arm, and place the stopper on the clean tray to the right. Do not touch or move the smaller bottle at the back. Return both robotic arms to their home positions."], "length": 683}
+{"episode_index": 34, "tasks": ["Use the left robotic arm to grasp and stabilize the body of the target transparent reagent bottle on the left. Position the right robotic arm at the stopper, grasp the stopper securely, and remove it from the bottle opening. Transfer the stopper to the clean tray on the right and release it without contacting other objects. Return both arms to their home positions."], "length": 742}
+{"episode_index": 35, "tasks": ["Keep the front-left transparent reagent bottle stationary with the left arm. Use the right arm to grasp the stopper, lift it clear of the bottle opening, transport it to the center area of the clean tray, and place it down. The smaller rear bottle is a distractor and must not be touched. Return both arms to their home positions."], "length": 797}
+{"episode_index": 36, "tasks": ["Stabilize the transparent reagent bottle nearest the left-front edge of the table using the left robotic arm. Using the right robotic arm, remove the stopper from this bottle and place it completely within the clean tray on the right. Maintain clearance from the rear bottle and all other objects throughout the motion. Return both arms to their home positions."], "length": 683}
+{"episode_index": 37, "tasks": ["First, move the left robotic arm to the transparent reagent bottle on the left and hold the bottle securely in place. Next, move the right robotic arm to the stopper, grasp it, and remove it from the bottle. Transfer the stopper to the clean tray on the right and release it onto the tray. Do not contact the smaller bottle behind the target bottle or any other object. Finally, return both robotic arms to their home positions."], "length": 731}
+{"episode_index": 38, "tasks": ["With the left robotic arm, stabilize the body of the front-left transparent reagent bottle without lifting or relocating the bottle. With the right robotic arm, grasp the stopper, withdraw it fully from the bottle opening, and carry it to the clean tray on the right. Place the stopper stably on the tray while avoiding contact with surrounding objects. Leave the smaller rear bottle unchanged, then return both arms to their home positions."], "length": 721}
+{"episode_index": 39, "tasks": ["Identify the target as the transparent reagent bottle positioned at the front-left of the workspace, not the smaller bottle located behind it. Use the left robotic arm to hold the target bottle stationary. Use the right robotic arm to grasp and completely remove the stopper, transfer the stopper to the clean tray on the right without touching any other objects, and place it securely on the tray. After releasing the stopper, return both robotic arms to their home positions."], "length": 640}
+{"episode_index": 40, "tasks": ["Remove the stopper from the transparent reagent bottle on the left side of the table, place the stopper on the clean tray to the right, and return both robotic arms to their home positions. Do not manipulate the smaller bottle at the back of the table."], "length": 731}
+{"episode_index": 41, "tasks": ["Use the left robotic arm to hold the transparent reagent bottle on the left steady. Use the right robotic arm to remove its stopper and place the stopper on the clean tray. Return both arms to their home positions without touching any other objects."], "length": 803}
+{"episode_index": 42, "tasks": ["Stabilize the front-left transparent reagent bottle with the left robotic arm. Remove the bottle stopper with the right robotic arm and transfer it to the clean tray on the right. Do not interact with the smaller bottle behind it. Return both robotic arms to their home positions."], "length": 867}
+{"episode_index": 43, "tasks": ["Use the left arm to secure the transparent reagent bottle located at the front-left of the table. With the right arm, take the stopper out of the bottle and place it on the clean tray to the right. Avoid contact with all other objects, then return both arms to their home positions."], "length": 773}
+{"episode_index": 44, "tasks": ["Hold the left-side transparent reagent bottle stationary with the left robotic arm while the right robotic arm removes the stopper. Place the removed stopper on the clean tray on the right, and return both robotic arms to their home positions. Leave the rear bottle untouched."], "length": 777}
+{"episode_index": 45, "tasks": ["With the left robotic arm, stabilize the transparent reagent bottle positioned closest to the front-left side of the table. With the right robotic arm, grasp and remove the stopper, move it to the clean tray, and release it onto the tray. Do not touch the smaller bottle at the back or any other object. Return both arms to their home positions."], "length": 820}
+{"episode_index": 46, "tasks": ["Secure the transparent reagent bottle on the left with the left arm. Use the right arm to extract the stopper from the bottle opening and place it on the clean tray to the right. Keep the rear bottle undisturbed and return both robotic arms to their home positions."], "length": 812}
+{"episode_index": 47, "tasks": ["Use the left robotic arm to prevent the front-left transparent reagent bottle from moving. Use the right robotic arm to grasp the stopper, lift it out of the bottle, and place it securely on the clean tray. Avoid all unintended contact and move both arms back to their home positions."], "length": 768}
+{"episode_index": 48, "tasks": ["Hold the body of the transparent reagent bottle at the front-left of the table with the left robotic arm. Use the right robotic arm to remove the stopper from the bottle and set it down on the clean tray to the right. Do not operate on the smaller rear bottle. Return both arms to their home positions."], "length": 713}
+{"episode_index": 49, "tasks": ["Stabilize the target reagent bottle, which is the transparent bottle on the left side of the table, using the left robotic arm. Remove its stopper using the right robotic arm and place the stopper inside the clean tray on the right. Do not touch the bottle at the back or any other object. Return both arms to their home positions."], "length": 672}
+{"episode_index": 50, "tasks": ["Remove the stopper from the transparent reagent bottle on the left side of the table, place the stopper on the clean tray to the right, and return both robotic arms to their home positions. Do not manipulate the smaller bottle at the back of the table."], "length": 684}
+{"episode_index": 51, "tasks": ["Use the left robotic arm to hold the transparent reagent bottle on the left steady. Use the right robotic arm to remove its stopper and place the stopper on the clean tray. Return both arms to their home positions without touching any other objects."], "length": 659}
+{"episode_index": 52, "tasks": ["Stabilize the front-left transparent reagent bottle with the left robotic arm. Remove the bottle stopper with the right robotic arm and transfer it to the clean tray on the right. Do not interact with the smaller bottle behind it. Return both robotic arms to their home positions."], "length": 652}
+{"episode_index": 53, "tasks": ["Use the left arm to secure the transparent reagent bottle located at the front-left of the table. With the right arm, take the stopper out of the bottle and place it on the clean tray to the right. Avoid contact with all other objects, then return both arms to their home positions."], "length": 666}
+{"episode_index": 54, "tasks": ["Hold the left-side transparent reagent bottle stationary with the left robotic arm while the right robotic arm removes the stopper. Place the removed stopper on the clean tray on the right, and return both robotic arms to their home positions. Leave the rear bottle untouched."], "length": 674}
+{"episode_index": 55, "tasks": ["With the left robotic arm, stabilize the transparent reagent bottle positioned closest to the front-left side of the table. With the right robotic arm, grasp and remove the stopper, move it to the clean tray, and release it onto the tray. Do not touch the smaller bottle at the back or any other object. Return both arms to their home positions."], "length": 780}
+{"episode_index": 56, "tasks": ["Secure the transparent reagent bottle on the left with the left arm. Use the right arm to extract the stopper from the bottle opening and place it on the clean tray to the right. Keep the rear bottle undisturbed and return both robotic arms to their home positions."], "length": 736}
+{"episode_index": 57, "tasks": ["Use the left robotic arm to prevent the front-left transparent reagent bottle from moving. Use the right robotic arm to grasp the stopper, lift it out of the bottle, and place it securely on the clean tray. Avoid all unintended contact and move both arms back to their home positions."], "length": 720}
+{"episode_index": 58, "tasks": ["Hold the body of the transparent reagent bottle at the front-left of the table with the left robotic arm. Use the right robotic arm to remove the stopper from the bottle and set it down on the clean tray to the right. Do not operate on the smaller rear bottle. Return both arms to their home positions."], "length": 755}
+{"episode_index": 59, "tasks": ["Stabilize the target reagent bottle, which is the transparent bottle on the left side of the table, using the left robotic arm. Remove its stopper using the right robotic arm and place the stopper inside the clean tray on the right. Do not touch the bottle at the back or any other object. Return both arms to their home positions."], "length": 719}
+{"episode_index": 60, "tasks": ["The left robotic arm must hold the front-left transparent reagent bottle steady. The right robotic arm must grasp the bottle stopper, remove it from the bottle opening, and transfer it to the clean tray. The smaller bottle behind the target bottle must remain untouched. After placing the stopper, return both arms to their home positions."], "length": 739}
+{"episode_index": 61, "tasks": ["Use the left arm to firmly stabilize the transparent reagent bottle located in the front-left area. Use the right arm to grasp and lift the stopper vertically out of the bottle opening, transfer it without contacting surrounding objects, and place it on the clean tray to the right. Return both arms to their home positions."], "length": 815}
+{"episode_index": 62, "tasks": ["Fix the position of the left-side transparent reagent bottle with the left robotic arm. With the right robotic arm, carefully remove the stopper and move it directly to the clean tray on the right without touching the other bottle or the nearby equipment. Release the stopper on the tray and return both arms to their home positions."], "length": 655}
+{"episode_index": 63, "tasks": ["Operate only on the transparent reagent bottle at the front-left of the table. Stabilize this bottle with the left robotic arm, remove its stopper with the right robotic arm, and place the stopper on the clean tray to the right. Do not touch or move the smaller bottle at the back. Return both robotic arms to their home positions."], "length": 736}
+{"episode_index": 64, "tasks": ["Use the left robotic arm to grasp and stabilize the body of the target transparent reagent bottle on the left. Position the right robotic arm at the stopper, grasp the stopper securely, and remove it from the bottle opening. Transfer the stopper to the clean tray on the right and release it without contacting other objects. Return both arms to their home positions."], "length": 837}
+{"episode_index": 65, "tasks": ["Keep the front-left transparent reagent bottle stationary with the left arm. Use the right arm to grasp the stopper, lift it clear of the bottle opening, transport it to the center area of the clean tray, and place it down. The smaller rear bottle is a distractor and must not be touched. Return both arms to their home positions."], "length": 751}
+{"episode_index": 66, "tasks": ["Stabilize the transparent reagent bottle nearest the left-front edge of the table using the left robotic arm. Using the right robotic arm, remove the stopper from this bottle and place it completely within the clean tray on the right. Maintain clearance from the rear bottle and all other objects throughout the motion. Return both arms to their home positions."], "length": 742}
+{"episode_index": 67, "tasks": ["First, move the left robotic arm to the transparent reagent bottle on the left and hold the bottle securely in place. Next, move the right robotic arm to the stopper, grasp it, and remove it from the bottle. Transfer the stopper to the clean tray on the right and release it onto the tray. Do not contact the smaller bottle behind the target bottle or any other object. Finally, return both robotic arms to their home positions."], "length": 676}
+{"episode_index": 68, "tasks": ["With the left robotic arm, stabilize the body of the front-left transparent reagent bottle without lifting or relocating the bottle. With the right robotic arm, grasp the stopper, withdraw it fully from the bottle opening, and carry it to the clean tray on the right. Place the stopper stably on the tray while avoiding contact with surrounding objects. Leave the smaller rear bottle unchanged, then return both arms to their home positions."], "length": 705}
+{"episode_index": 69, "tasks": ["Identify the target as the transparent reagent bottle positioned at the front-left of the workspace, not the smaller bottle located behind it. Use the left robotic arm to hold the target bottle stationary. Use the right robotic arm to grasp and completely remove the stopper, transfer the stopper to the clean tray on the right without touching any other objects, and place it securely on the tray. After releasing the stopper, return both robotic arms to their home positions."], "length": 676}
+{"episode_index": 70, "tasks": ["Remove the stopper from the transparent reagent bottle on the left side of the table, place the stopper on the clean tray to the right, and return both robotic arms to their home positions. Do not manipulate the smaller bottle at the back of the table."], "length": 686}
+{"episode_index": 71, "tasks": ["Use the left robotic arm to hold the transparent reagent bottle on the left steady. Use the right robotic arm to remove its stopper and place the stopper on the clean tray. Return both arms to their home positions without touching any other objects."], "length": 730}
+{"episode_index": 72, "tasks": ["Stabilize the front-left transparent reagent bottle with the left robotic arm. Remove the bottle stopper with the right robotic arm and transfer it to the clean tray on the right. Do not interact with the smaller bottle behind it. Return both robotic arms to their home positions."], "length": 685}
+{"episode_index": 73, "tasks": ["Use the left arm to secure the transparent reagent bottle located at the front-left of the table. With the right arm, take the stopper out of the bottle and place it on the clean tray to the right. Avoid contact with all other objects, then return both arms to their home positions."], "length": 797}
+{"episode_index": 74, "tasks": ["Hold the left-side transparent reagent bottle stationary with the left robotic arm while the right robotic arm removes the stopper. Place the removed stopper on the clean tray on the right, and return both robotic arms to their home positions. Leave the rear bottle untouched."], "length": 512}
+{"episode_index": 75, "tasks": ["With the left robotic arm, stabilize the transparent reagent bottle positioned closest to the front-left side of the table. With the right robotic arm, grasp and remove the stopper, move it to the clean tray, and release it onto the tray. Do not touch the smaller bottle at the back or any other object. Return both arms to their home positions."], "length": 1035}
+{"episode_index": 76, "tasks": ["Secure the transparent reagent bottle on the left with the left arm. Use the right arm to extract the stopper from the bottle opening and place it on the clean tray to the right. Keep the rear bottle undisturbed and return both robotic arms to their home positions."], "length": 744}
+{"episode_index": 77, "tasks": ["Use the left robotic arm to prevent the front-left transparent reagent bottle from moving. Use the right robotic arm to grasp the stopper, lift it out of the bottle, and place it securely on the clean tray. Avoid all unintended contact and move both arms back to their home positions."], "length": 747}
+{"episode_index": 78, "tasks": ["Hold the body of the transparent reagent bottle at the front-left of the table with the left robotic arm. Use the right robotic arm to remove the stopper from the bottle and set it down on the clean tray to the right. Do not operate on the smaller rear bottle. Return both arms to their home positions."], "length": 747}
+{"episode_index": 79, "tasks": ["Stabilize the target reagent bottle, which is the transparent bottle on the left side of the table, using the left robotic arm. Remove its stopper using the right robotic arm and place the stopper inside the clean tray on the right. Do not touch the bottle at the back or any other object. Return both arms to their home positions."], "length": 689}
+{"episode_index": 80, "tasks": ["The left robotic arm must hold the front-left transparent reagent bottle steady. The right robotic arm must grasp the bottle stopper, remove it from the bottle opening, and transfer it to the clean tray. The smaller bottle behind the target bottle must remain untouched. After placing the stopper, return both arms to their home positions."], "length": 695}
+{"episode_index": 81, "tasks": ["Use the left arm to firmly stabilize the transparent reagent bottle located in the front-left area. Use the right arm to grasp and lift the stopper vertically out of the bottle opening, transfer it without contacting surrounding objects, and place it on the clean tray to the right. Return both arms to their home positions."], "length": 721}
+{"episode_index": 82, "tasks": ["Fix the position of the left-side transparent reagent bottle with the left robotic arm. With the right robotic arm, carefully remove the stopper and move it directly to the clean tray on the right without touching the other bottle or the nearby equipment. Release the stopper on the tray and return both arms to their home positions."], "length": 580}
+{"episode_index": 83, "tasks": ["Operate only on the transparent reagent bottle at the front-left of the table. Stabilize this bottle with the left robotic arm, remove its stopper with the right robotic arm, and place the stopper on the clean tray to the right. Do not touch or move the smaller bottle at the back. Return both robotic arms to their home positions."], "length": 683}
+{"episode_index": 84, "tasks": ["Use the left robotic arm to grasp and stabilize the body of the target transparent reagent bottle on the left. Position the right robotic arm at the stopper, grasp the stopper securely, and remove it from the bottle opening. Transfer the stopper to the clean tray on the right and release it without contacting other objects. Return both arms to their home positions."], "length": 742}
+{"episode_index": 85, "tasks": ["Keep the front-left transparent reagent bottle stationary with the left arm. Use the right arm to grasp the stopper, lift it clear of the bottle opening, transport it to the center area of the clean tray, and place it down. The smaller rear bottle is a distractor and must not be touched. Return both arms to their home positions."], "length": 797}
+{"episode_index": 86, "tasks": ["Stabilize the transparent reagent bottle nearest the left-front edge of the table using the left robotic arm. Using the right robotic arm, remove the stopper from this bottle and place it completely within the clean tray on the right. Maintain clearance from the rear bottle and all other objects throughout the motion. Return both arms to their home positions."], "length": 683}
+{"episode_index": 87, "tasks": ["First, move the left robotic arm to the transparent reagent bottle on the left and hold the bottle securely in place. Next, move the right robotic arm to the stopper, grasp it, and remove it from the bottle. Transfer the stopper to the clean tray on the right and release it onto the tray. Do not contact the smaller bottle behind the target bottle or any other object. Finally, return both robotic arms to their home positions."], "length": 731}
+{"episode_index": 88, "tasks": ["With the left robotic arm, stabilize the body of the front-left transparent reagent bottle without lifting or relocating the bottle. With the right robotic arm, grasp the stopper, withdraw it fully from the bottle opening, and carry it to the clean tray on the right. Place the stopper stably on the tray while avoiding contact with surrounding objects. Leave the smaller rear bottle unchanged, then return both arms to their home positions."], "length": 721}
+{"episode_index": 89, "tasks": ["Identify the target as the transparent reagent bottle positioned at the front-left of the workspace, not the smaller bottle located behind it. Use the left robotic arm to hold the target bottle stationary. Use the right robotic arm to grasp and completely remove the stopper, transfer the stopper to the clean tray on the right without touching any other objects, and place it securely on the tray. After releasing the stopper, return both robotic arms to their home positions."], "length": 640}
+{"episode_index": 90, "tasks": ["Remove the stopper from the transparent reagent bottle on the left side of the table, place the stopper on the clean tray to the right, and return both robotic arms to their home positions. Do not manipulate the smaller bottle at the back of the table."], "length": 731}
+{"episode_index": 91, "tasks": ["Use the left robotic arm to hold the transparent reagent bottle on the left steady. Use the right robotic arm to remove its stopper and place the stopper on the clean tray. Return both arms to their home positions without touching any other objects."], "length": 803}
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+{"episode_index": 161, "tasks": ["Use the left arm to firmly stabilize the transparent reagent bottle located in the front-left area. Use the right arm to grasp and lift the stopper vertically out of the bottle opening, transfer it without contacting surrounding objects, and place it on the clean tray to the right. Return both arms to their home positions."], "length": 815}
+{"episode_index": 162, "tasks": ["Fix the position of the left-side transparent reagent bottle with the left robotic arm. With the right robotic arm, carefully remove the stopper and move it directly to the clean tray on the right without touching the other bottle or the nearby equipment. Release the stopper on the tray and return both arms to their home positions."], "length": 655}
+{"episode_index": 163, "tasks": ["Operate only on the transparent reagent bottle at the front-left of the table. Stabilize this bottle with the left robotic arm, remove its stopper with the right robotic arm, and place the stopper on the clean tray to the right. Do not touch or move the smaller bottle at the back. Return both robotic arms to their home positions."], "length": 736}
+{"episode_index": 164, "tasks": ["Use the left robotic arm to grasp and stabilize the body of the target transparent reagent bottle on the left. Position the right robotic arm at the stopper, grasp the stopper securely, and remove it from the bottle opening. Transfer the stopper to the clean tray on the right and release it without contacting other objects. Return both arms to their home positions."], "length": 837}
+{"episode_index": 165, "tasks": ["Keep the front-left transparent reagent bottle stationary with the left arm. Use the right arm to grasp the stopper, lift it clear of the bottle opening, transport it to the center area of the clean tray, and place it down. The smaller rear bottle is a distractor and must not be touched. Return both arms to their home positions."], "length": 751}
+{"episode_index": 166, "tasks": ["Stabilize the transparent reagent bottle nearest the left-front edge of the table using the left robotic arm. Using the right robotic arm, remove the stopper from this bottle and place it completely within the clean tray on the right. Maintain clearance from the rear bottle and all other objects throughout the motion. Return both arms to their home positions."], "length": 742}
+{"episode_index": 167, "tasks": ["First, move the left robotic arm to the transparent reagent bottle on the left and hold the bottle securely in place. Next, move the right robotic arm to the stopper, grasp it, and remove it from the bottle. Transfer the stopper to the clean tray on the right and release it onto the tray. Do not contact the smaller bottle behind the target bottle or any other object. Finally, return both robotic arms to their home positions."], "length": 676}
+{"episode_index": 168, "tasks": ["With the left robotic arm, stabilize the body of the front-left transparent reagent bottle without lifting or relocating the bottle. With the right robotic arm, grasp the stopper, withdraw it fully from the bottle opening, and carry it to the clean tray on the right. Place the stopper stably on the tray while avoiding contact with surrounding objects. Leave the smaller rear bottle unchanged, then return both arms to their home positions."], "length": 705}
+{"episode_index": 169, "tasks": ["Identify the target as the transparent reagent bottle positioned at the front-left of the workspace, not the smaller bottle located behind it. Use the left robotic arm to hold the target bottle stationary. Use the right robotic arm to grasp and completely remove the stopper, transfer the stopper to the clean tray on the right without touching any other objects, and place it securely on the tray. After releasing the stopper, return both robotic arms to their home positions."], "length": 676}
+{"episode_index": 170, "tasks": ["Remove the stopper from the transparent reagent bottle on the left side of the table, place the stopper on the clean tray to the right, and return both robotic arms to their home positions. Do not manipulate the smaller bottle at the back of the table."], "length": 686}
+{"episode_index": 171, "tasks": ["Use the left robotic arm to hold the transparent reagent bottle on the left steady. Use the right robotic arm to remove its stopper and place the stopper on the clean tray. Return both arms to their home positions without touching any other objects."], "length": 730}
+{"episode_index": 172, "tasks": ["Stabilize the front-left transparent reagent bottle with the left robotic arm. Remove the bottle stopper with the right robotic arm and transfer it to the clean tray on the right. Do not interact with the smaller bottle behind it. Return both robotic arms to their home positions."], "length": 685}
+{"episode_index": 173, "tasks": ["Use the left arm to secure the transparent reagent bottle located at the front-left of the table. With the right arm, take the stopper out of the bottle and place it on the clean tray to the right. Avoid contact with all other objects, then return both arms to their home positions."], "length": 797}
+{"episode_index": 174, "tasks": ["Hold the left-side transparent reagent bottle stationary with the left robotic arm while the right robotic arm removes the stopper. Place the removed stopper on the clean tray on the right, and return both robotic arms to their home positions. Leave the rear bottle untouched."], "length": 512}
+{"episode_index": 175, "tasks": ["With the left robotic arm, stabilize the transparent reagent bottle positioned closest to the front-left side of the table. With the right robotic arm, grasp and remove the stopper, move it to the clean tray, and release it onto the tray. Do not touch the smaller bottle at the back or any other object. Return both arms to their home positions."], "length": 1035}
+{"episode_index": 176, "tasks": ["Secure the transparent reagent bottle on the left with the left arm. Use the right arm to extract the stopper from the bottle opening and place it on the clean tray to the right. Keep the rear bottle undisturbed and return both robotic arms to their home positions."], "length": 744}
+{"episode_index": 177, "tasks": ["Use the left robotic arm to prevent the front-left transparent reagent bottle from moving. Use the right robotic arm to grasp the stopper, lift it out of the bottle, and place it securely on the clean tray. Avoid all unintended contact and move both arms back to their home positions."], "length": 747}
+{"episode_index": 178, "tasks": ["Hold the body of the transparent reagent bottle at the front-left of the table with the left robotic arm. Use the right robotic arm to remove the stopper from the bottle and set it down on the clean tray to the right. Do not operate on the smaller rear bottle. Return both arms to their home positions."], "length": 747}
+{"episode_index": 179, "tasks": ["Stabilize the target reagent bottle, which is the transparent bottle on the left side of the table, using the left robotic arm. Remove its stopper using the right robotic arm and place the stopper inside the clean tray on the right. Do not touch the bottle at the back or any other object. Return both arms to their home positions."], "length": 689}
+{"episode_index": 180, "tasks": ["The left robotic arm must hold the front-left transparent reagent bottle steady. The right robotic arm must grasp the bottle stopper, remove it from the bottle opening, and transfer it to the clean tray. The smaller bottle behind the target bottle must remain untouched. After placing the stopper, return both arms to their home positions."], "length": 695}
+{"episode_index": 181, "tasks": ["Use the left arm to firmly stabilize the transparent reagent bottle located in the front-left area. Use the right arm to grasp and lift the stopper vertically out of the bottle opening, transfer it without contacting surrounding objects, and place it on the clean tray to the right. Return both arms to their home positions."], "length": 721}
+{"episode_index": 182, "tasks": ["Fix the position of the left-side transparent reagent bottle with the left robotic arm. With the right robotic arm, carefully remove the stopper and move it directly to the clean tray on the right without touching the other bottle or the nearby equipment. Release the stopper on the tray and return both arms to their home positions."], "length": 580}
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+{"episode_index": 232, "tasks": ["Fix the position of the left-side transparent reagent bottle with the left robotic arm. With the right robotic arm, carefully remove the stopper and move it directly to the clean tray on the right without touching the other bottle or the nearby equipment. Release the stopper on the tray and return both arms to their home positions."], "length": 580}
+{"episode_index": 233, "tasks": ["Operate only on the transparent reagent bottle at the front-left of the table. Stabilize this bottle with the left robotic arm, remove its stopper with the right robotic arm, and place the stopper on the clean tray to the right. Do not touch or move the smaller bottle at the back. Return both robotic arms to their home positions."], "length": 683}
+{"episode_index": 234, "tasks": ["Use the left robotic arm to grasp and stabilize the body of the target transparent reagent bottle on the left. Position the right robotic arm at the stopper, grasp the stopper securely, and remove it from the bottle opening. Transfer the stopper to the clean tray on the right and release it without contacting other objects. Return both arms to their home positions."], "length": 742}
+{"episode_index": 235, "tasks": ["Keep the front-left transparent reagent bottle stationary with the left arm. Use the right arm to grasp the stopper, lift it clear of the bottle opening, transport it to the center area of the clean tray, and place it down. The smaller rear bottle is a distractor and must not be touched. Return both arms to their home positions."], "length": 797}
+{"episode_index": 236, "tasks": ["Stabilize the transparent reagent bottle nearest the left-front edge of the table using the left robotic arm. Using the right robotic arm, remove the stopper from this bottle and place it completely within the clean tray on the right. Maintain clearance from the rear bottle and all other objects throughout the motion. Return both arms to their home positions."], "length": 683}
+{"episode_index": 237, "tasks": ["First, move the left robotic arm to the transparent reagent bottle on the left and hold the bottle securely in place. Next, move the right robotic arm to the stopper, grasp it, and remove it from the bottle. Transfer the stopper to the clean tray on the right and release it onto the tray. Do not contact the smaller bottle behind the target bottle or any other object. Finally, return both robotic arms to their home positions."], "length": 731}
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+{"episode_index": 240, "tasks": ["Remove the stopper from the transparent reagent bottle on the left side of the table, place the stopper on the clean tray to the right, and return both robotic arms to their home positions. Do not manipulate the smaller bottle at the back of the table."], "length": 731}
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+{"episode_index": 256, "tasks": ["Secure the transparent reagent bottle on the left with the left arm. Use the right arm to extract the stopper from the bottle opening and place it on the clean tray to the right. Keep the rear bottle undisturbed and return both robotic arms to their home positions."], "length": 736}
+{"episode_index": 257, "tasks": ["Use the left robotic arm to prevent the front-left transparent reagent bottle from moving. Use the right robotic arm to grasp the stopper, lift it out of the bottle, and place it securely on the clean tray. Avoid all unintended contact and move both arms back to their home positions."], "length": 720}
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+{"episode_index": 259, "tasks": ["Stabilize the target reagent bottle, which is the transparent bottle on the left side of the table, using the left robotic arm. Remove its stopper using the right robotic arm and place the stopper inside the clean tray on the right. Do not touch the bottle at the back or any other object. Return both arms to their home positions."], "length": 719}
+{"episode_index": 260, "tasks": ["The left robotic arm must hold the front-left transparent reagent bottle steady. The right robotic arm must grasp the bottle stopper, remove it from the bottle opening, and transfer it to the clean tray. The smaller bottle behind the target bottle must remain untouched. After placing the stopper, return both arms to their home positions."], "length": 739}
+{"episode_index": 261, "tasks": ["Use the left arm to firmly stabilize the transparent reagent bottle located in the front-left area. Use the right arm to grasp and lift the stopper vertically out of the bottle opening, transfer it without contacting surrounding objects, and place it on the clean tray to the right. Return both arms to their home positions."], "length": 815}
+{"episode_index": 262, "tasks": ["Fix the position of the left-side transparent reagent bottle with the left robotic arm. With the right robotic arm, carefully remove the stopper and move it directly to the clean tray on the right without touching the other bottle or the nearby equipment. Release the stopper on the tray and return both arms to their home positions."], "length": 655}
+{"episode_index": 263, "tasks": ["Operate only on the transparent reagent bottle at the front-left of the table. Stabilize this bottle with the left robotic arm, remove its stopper with the right robotic arm, and place the stopper on the clean tray to the right. Do not touch or move the smaller bottle at the back. Return both robotic arms to their home positions."], "length": 736}
+{"episode_index": 264, "tasks": ["Use the left robotic arm to grasp and stabilize the body of the target transparent reagent bottle on the left. Position the right robotic arm at the stopper, grasp the stopper securely, and remove it from the bottle opening. Transfer the stopper to the clean tray on the right and release it without contacting other objects. Return both arms to their home positions."], "length": 837}
+{"episode_index": 265, "tasks": ["Keep the front-left transparent reagent bottle stationary with the left arm. Use the right arm to grasp the stopper, lift it clear of the bottle opening, transport it to the center area of the clean tray, and place it down. The smaller rear bottle is a distractor and must not be touched. Return both arms to their home positions."], "length": 751}
+{"episode_index": 266, "tasks": ["Stabilize the transparent reagent bottle nearest the left-front edge of the table using the left robotic arm. Using the right robotic arm, remove the stopper from this bottle and place it completely within the clean tray on the right. Maintain clearance from the rear bottle and all other objects throughout the motion. Return both arms to their home positions."], "length": 742}
+{"episode_index": 267, "tasks": ["First, move the left robotic arm to the transparent reagent bottle on the left and hold the bottle securely in place. Next, move the right robotic arm to the stopper, grasp it, and remove it from the bottle. Transfer the stopper to the clean tray on the right and release it onto the tray. Do not contact the smaller bottle behind the target bottle or any other object. Finally, return both robotic arms to their home positions."], "length": 676}
+{"episode_index": 268, "tasks": ["With the left robotic arm, stabilize the body of the front-left transparent reagent bottle without lifting or relocating the bottle. With the right robotic arm, grasp the stopper, withdraw it fully from the bottle opening, and carry it to the clean tray on the right. Place the stopper stably on the tray while avoiding contact with surrounding objects. Leave the smaller rear bottle unchanged, then return both arms to their home positions."], "length": 705}
+{"episode_index": 269, "tasks": ["Identify the target as the transparent reagent bottle positioned at the front-left of the workspace, not the smaller bottle located behind it. Use the left robotic arm to hold the target bottle stationary. Use the right robotic arm to grasp and completely remove the stopper, transfer the stopper to the clean tray on the right without touching any other objects, and place it securely on the tray. After releasing the stopper, return both robotic arms to their home positions."], "length": 676}
+{"episode_index": 270, "tasks": ["Remove the stopper from the transparent reagent bottle on the left side of the table, place the stopper on the clean tray to the right, and return both robotic arms to their home positions. Do not manipulate the smaller bottle at the back of the table."], "length": 686}
+{"episode_index": 271, "tasks": ["Use the left robotic arm to hold the transparent reagent bottle on the left steady. Use the right robotic arm to remove its stopper and place the stopper on the clean tray. Return both arms to their home positions without touching any other objects."], "length": 730}
+{"episode_index": 272, "tasks": ["Stabilize the front-left transparent reagent bottle with the left robotic arm. Remove the bottle stopper with the right robotic arm and transfer it to the clean tray on the right. Do not interact with the smaller bottle behind it. Return both robotic arms to their home positions."], "length": 685}
+{"episode_index": 273, "tasks": ["Use the left arm to secure the transparent reagent bottle located at the front-left of the table. With the right arm, take the stopper out of the bottle and place it on the clean tray to the right. Avoid contact with all other objects, then return both arms to their home positions."], "length": 797}
+{"episode_index": 274, "tasks": ["Hold the left-side transparent reagent bottle stationary with the left robotic arm while the right robotic arm removes the stopper. Place the removed stopper on the clean tray on the right, and return both robotic arms to their home positions. Leave the rear bottle untouched."], "length": 512}
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+{"episode_index": 357, "tasks": ["Use the left robotic arm to prevent the front-left transparent reagent bottle from moving. Use the right robotic arm to grasp the stopper, lift it out of the bottle, and place it securely on the clean tray. Avoid all unintended contact and move both arms back to their home positions."], "length": 720}
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+{"episode_index": 359, "tasks": ["Stabilize the target reagent bottle, which is the transparent bottle on the left side of the table, using the left robotic arm. Remove its stopper using the right robotic arm and place the stopper inside the clean tray on the right. Do not touch the bottle at the back or any other object. Return both arms to their home positions."], "length": 719}
+{"episode_index": 360, "tasks": ["The left robotic arm must hold the front-left transparent reagent bottle steady. The right robotic arm must grasp the bottle stopper, remove it from the bottle opening, and transfer it to the clean tray. The smaller bottle behind the target bottle must remain untouched. After placing the stopper, return both arms to their home positions."], "length": 739}
+{"episode_index": 361, "tasks": ["Use the left arm to firmly stabilize the transparent reagent bottle located in the front-left area. Use the right arm to grasp and lift the stopper vertically out of the bottle opening, transfer it without contacting surrounding objects, and place it on the clean tray to the right. Return both arms to their home positions."], "length": 815}
+{"episode_index": 362, "tasks": ["Fix the position of the left-side transparent reagent bottle with the left robotic arm. With the right robotic arm, carefully remove the stopper and move it directly to the clean tray on the right without touching the other bottle or the nearby equipment. Release the stopper on the tray and return both arms to their home positions."], "length": 655}
+{"episode_index": 363, "tasks": ["Operate only on the transparent reagent bottle at the front-left of the table. Stabilize this bottle with the left robotic arm, remove its stopper with the right robotic arm, and place the stopper on the clean tray to the right. Do not touch or move the smaller bottle at the back. Return both robotic arms to their home positions."], "length": 736}
+{"episode_index": 364, "tasks": ["Use the left robotic arm to grasp and stabilize the body of the target transparent reagent bottle on the left. Position the right robotic arm at the stopper, grasp the stopper securely, and remove it from the bottle opening. Transfer the stopper to the clean tray on the right and release it without contacting other objects. Return both arms to their home positions."], "length": 837}
+{"episode_index": 365, "tasks": ["Keep the front-left transparent reagent bottle stationary with the left arm. Use the right arm to grasp the stopper, lift it clear of the bottle opening, transport it to the center area of the clean tray, and place it down. The smaller rear bottle is a distractor and must not be touched. Return both arms to their home positions."], "length": 751}
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+{"episode_index": 455, "tasks": ["With the left robotic arm, stabilize the transparent reagent bottle positioned closest to the front-left side of the table. With the right robotic arm, grasp and remove the stopper, move it to the clean tray, and release it onto the tray. Do not touch the smaller bottle at the back or any other object. Return both arms to their home positions."], "length": 780}
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+{"episode_index": 499, "tasks": ["Stabilize the target reagent bottle, which is the transparent bottle on the left side of the table, using the left robotic arm. Remove its stopper using the right robotic arm and place the stopper inside the clean tray on the right. Do not touch the bottle at the back or any other object. Return both arms to their home positions."], "length": 672}
diff --git a/task_05_remove_container_lid/meta/episodes_stats.jsonl b/task_05_remove_container_lid/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..457f0867e5174e2db6f8969cf53ff7b2840a2d11
--- /dev/null
+++ b/task_05_remove_container_lid/meta/episodes_stats.jsonl
@@ -0,0 +1,500 @@
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diff --git a/task_05_remove_container_lid/meta/info.json b/task_05_remove_container_lid/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..297d508029f5ee8a99eef8698210b2653d6e2a21
--- /dev/null
+++ b/task_05_remove_container_lid/meta/info.json
@@ -0,0 +1,350 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "lift2",
+    "total_episodes": 500,
+    "total_frames": 364780,
+    "total_tasks": 20,
+    "total_videos": 2000,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
+        "train": "0:500"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "state.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints_delta": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "state.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "state.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose_delta": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "state.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base_delta": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/task_05_remove_container_lid/meta/tasks.jsonl b/task_05_remove_container_lid/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e45701a28bb11b9a5ca534d74d4e743bb37feca9
--- /dev/null
+++ b/task_05_remove_container_lid/meta/tasks.jsonl
@@ -0,0 +1,20 @@
+{"task_index": 0, "task": "Remove the stopper from the transparent reagent bottle on the left side of the table, place the stopper on the clean tray to the right, and return both robotic arms to their home positions. Do not manipulate the smaller bottle at the back of the table."}
+{"task_index": 1, "task": "Use the left robotic arm to hold the transparent reagent bottle on the left steady. Use the right robotic arm to remove its stopper and place the stopper on the clean tray. Return both arms to their home positions without touching any other objects."}
+{"task_index": 2, "task": "Stabilize the front-left transparent reagent bottle with the left robotic arm. Remove the bottle stopper with the right robotic arm and transfer it to the clean tray on the right. Do not interact with the smaller bottle behind it. Return both robotic arms to their home positions."}
+{"task_index": 3, "task": "Use the left arm to secure the transparent reagent bottle located at the front-left of the table. With the right arm, take the stopper out of the bottle and place it on the clean tray to the right. Avoid contact with all other objects, then return both arms to their home positions."}
+{"task_index": 4, "task": "Hold the left-side transparent reagent bottle stationary with the left robotic arm while the right robotic arm removes the stopper. Place the removed stopper on the clean tray on the right, and return both robotic arms to their home positions. Leave the rear bottle untouched."}
+{"task_index": 5, "task": "With the left robotic arm, stabilize the transparent reagent bottle positioned closest to the front-left side of the table. With the right robotic arm, grasp and remove the stopper, move it to the clean tray, and release it onto the tray. Do not touch the smaller bottle at the back or any other object. Return both arms to their home positions."}
+{"task_index": 6, "task": "Secure the transparent reagent bottle on the left with the left arm. Use the right arm to extract the stopper from the bottle opening and place it on the clean tray to the right. Keep the rear bottle undisturbed and return both robotic arms to their home positions."}
+{"task_index": 7, "task": "Use the left robotic arm to prevent the front-left transparent reagent bottle from moving. Use the right robotic arm to grasp the stopper, lift it out of the bottle, and place it securely on the clean tray. Avoid all unintended contact and move both arms back to their home positions."}
+{"task_index": 8, "task": "Hold the body of the transparent reagent bottle at the front-left of the table with the left robotic arm. Use the right robotic arm to remove the stopper from the bottle and set it down on the clean tray to the right. Do not operate on the smaller rear bottle. Return both arms to their home positions."}
+{"task_index": 9, "task": "Stabilize the target reagent bottle, which is the transparent bottle on the left side of the table, using the left robotic arm. Remove its stopper using the right robotic arm and place the stopper inside the clean tray on the right. Do not touch the bottle at the back or any other object. Return both arms to their home positions."}
+{"task_index": 10, "task": "The left robotic arm must hold the front-left transparent reagent bottle steady. The right robotic arm must grasp the bottle stopper, remove it from the bottle opening, and transfer it to the clean tray. The smaller bottle behind the target bottle must remain untouched. After placing the stopper, return both arms to their home positions."}
+{"task_index": 11, "task": "Use the left arm to firmly stabilize the transparent reagent bottle located in the front-left area. Use the right arm to grasp and lift the stopper vertically out of the bottle opening, transfer it without contacting surrounding objects, and place it on the clean tray to the right. Return both arms to their home positions."}
+{"task_index": 12, "task": "Fix the position of the left-side transparent reagent bottle with the left robotic arm. With the right robotic arm, carefully remove the stopper and move it directly to the clean tray on the right without touching the other bottle or the nearby equipment. Release the stopper on the tray and return both arms to their home positions."}
+{"task_index": 13, "task": "Operate only on the transparent reagent bottle at the front-left of the table. Stabilize this bottle with the left robotic arm, remove its stopper with the right robotic arm, and place the stopper on the clean tray to the right. Do not touch or move the smaller bottle at the back. Return both robotic arms to their home positions."}
+{"task_index": 14, "task": "Use the left robotic arm to grasp and stabilize the body of the target transparent reagent bottle on the left. Position the right robotic arm at the stopper, grasp the stopper securely, and remove it from the bottle opening. Transfer the stopper to the clean tray on the right and release it without contacting other objects. Return both arms to their home positions."}
+{"task_index": 15, "task": "Keep the front-left transparent reagent bottle stationary with the left arm. Use the right arm to grasp the stopper, lift it clear of the bottle opening, transport it to the center area of the clean tray, and place it down. The smaller rear bottle is a distractor and must not be touched. Return both arms to their home positions."}
+{"task_index": 16, "task": "Stabilize the transparent reagent bottle nearest the left-front edge of the table using the left robotic arm. Using the right robotic arm, remove the stopper from this bottle and place it completely within the clean tray on the right. Maintain clearance from the rear bottle and all other objects throughout the motion. Return both arms to their home positions."}
+{"task_index": 17, "task": "First, move the left robotic arm to the transparent reagent bottle on the left and hold the bottle securely in place. Next, move the right robotic arm to the stopper, grasp it, and remove it from the bottle. Transfer the stopper to the clean tray on the right and release it onto the tray. Do not contact the smaller bottle behind the target bottle or any other object. Finally, return both robotic arms to their home positions."}
+{"task_index": 18, "task": "With the left robotic arm, stabilize the body of the front-left transparent reagent bottle without lifting or relocating the bottle. With the right robotic arm, grasp the stopper, withdraw it fully from the bottle opening, and carry it to the clean tray on the right. Place the stopper stably on the tray while avoiding contact with surrounding objects. Leave the smaller rear bottle unchanged, then return both arms to their home positions."}
+{"task_index": 19, "task": "Identify the target as the transparent reagent bottle positioned at the front-left of the workspace, not the smaller bottle located behind it. Use the left robotic arm to hold the target bottle stationary. Use the right robotic arm to grasp and completely remove the stopper, transfer the stopper to the clean tray on the right without touching any other objects, and place it securely on the tray. After releasing the stopper, return both robotic arms to their home positions."}
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