diff --git a/README.md b/README.md
index 52e270e13235465c3b8870895924b0a78712d842..e3fcbb0f6d93e4aeedfc4eebd5ac14baf584ced6 100644
--- a/README.md
+++ b/README.md
@@ -4,7 +4,7 @@ language:
 - zh
 pretty_name: MultiDojo²
 size_categories:
-- 100K<n<1M
+- 1K<n<10K
 task_categories:
 - robotics
 tags:
@@ -37,7 +37,7 @@ cd multidojo-data
 pip install -r requirements.txt
 ```
 
-The currently downloadable files total approximately **98.1 GiB**. Loading requires Python and the packages in requirements.txt; a simulator or GPU is unnecessary.
+The currently downloadable files total approximately **671.6 GiB**. Loading requires Python and the packages in requirements.txt; a simulator or GPU is unnecessary.
 
 ```python
 from loader import TrainingDataset
@@ -50,7 +50,7 @@ print(sample["robots"].keys())
 dataset.close()
 ```
 
-For a partial download, include loader.py, requirements.txt, and every file in each selected episode directory, then filter train.jsonl to those episodes. Paths are relative to the index file. Directory numbers preserve the collection's original numbering and are non-contiguous; **tasks.json maps every task to its episode directories and index rows**.
+For a partial download, include loader.py, requirements.txt, and every file in each selected episode directory, then filter train.jsonl to those episodes. Paths are relative to the index file. Directory numbers preserve the collection's original numbering; **tasks.json maps every task to its episode directories and index rows**.
 
 ## Files
 
@@ -66,26 +66,26 @@ Actions are **absolute native joint-position commands**, with radians or metres
 
 | ID | Task | Demonstrations |
 | --- | --- | ---: |
-| 00 | Banana handover into a pan | 18 |
-| 01 | Banana and apple to plates | 18 |
-| 02 | Collaborative carton transport | 17 |
-| 03 | Two-stage cup relay | 16 |
-| 04 | Place and stack blocks | 18 |
-| 05 | Franka–Piper long-block handover | 21 |
-| 06 | Three-arm block relay | 11 |
-| 07 | Apples to baskets | 11 |
-| 08 | Four-arm block relay | 20 |
-| 09 | Ordered four-color stacking | 10 |
-| 10 | Cookies to boxes | 10 |
-| 11 | Household objects to boxes | 18 |
-| 12 | Eight-arm blocks to boxes | 14 |
-| 13 | Three-arm block relay | 17 |
-| 14 | Four-arm block relay | 14 |
-| 15 | Eight-arm blocks to boxes | 11 |
-| 16 | Three-arm banana relay | 14 |
-| 17 | Three-arm white-cup relay | 11 |
-| 18 | Four-arm banana relay | 20 |
-| 19 | Four-arm white-cup relay | 12 |
+| 00 | Banana handover into a pan | 100 |
+| 01 | Banana and apple to plates | 100 |
+| 02 | Collaborative carton transport | 100 |
+| 03 | Two-stage cup relay | 100 |
+| 04 | Place and stack blocks | 100 |
+| 05 | Franka–Piper long-block handover | 100 |
+| 06 | Three-arm block relay | 100 |
+| 07 | Apples to baskets | 100 |
+| 08 | Four-arm block relay | 100 |
+| 09 | Ordered four-color stacking | 100 |
+| 10 | Cookies to boxes | 100 |
+| 11 | Household objects to boxes | 100 |
+| 12 | Eight-arm blocks to boxes | 100 |
+| 13 | Three-arm block relay | 100 |
+| 14 | Four-arm block relay | 100 |
+| 15 | Eight-arm blocks to boxes | 100 |
+| 16 | Three-arm banana relay | 100 |
+| 17 | Three-arm white-cup relay | 100 |
+| 18 | Four-arm banana relay | 100 |
+| 19 | Four-arm white-cup relay | 100 |
 
 ## Attribution
 
@@ -95,6 +95,6 @@ These are simulation recordings. Simulator executables and source robot/object a
 
 MultiDojo² 数据集包含 **2,000+ 条训练轨迹、20+ 类多机器人协作任务**，覆盖同构与异构的双臂、三臂、四臂和八臂组合。训练数据在本仓库持续开放。
 
-每条轨迹同步保存**每个机械臂的第一视角、第三视角、状态与动作，以及相机标定**；多工位任务还包含工位视角。RGB 保持原始 640×480、30 Hz。当前可下载文件约 **98.1 GiB**。
+每条轨迹同步保存**每个机械臂的第一视角、第三视角、状态与动作，以及相机标定**；多工位任务还包含工位视角。RGB 保持原始 640×480、30 Hz。当前可下载文件约 **671.6 GiB**。
 
-使用 train.jsonl 加载，tasks.json 提供每类任务对应的目录和索引行。目录编号沿用原始编号，因此不连续。安装 requirements.txt 后可使用 loader.py 读取。状态动作的单位、同步关系和仿真建模说明见 FORMAT.md。
+使用 train.jsonl 加载，tasks.json 提供每类任务对应的目录和索引行。目录编号沿用原始编号。安装 requirements.txt 后可使用 loader.py 读取。状态动作的单位、同步关系和仿真建模说明见 FORMAT.md。
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diff --git a/tasks.json b/tasks.json
index e0706ca32759d3419906dcdedaa647ce2b4762fa..69d7b2826ece1a92a787382129009f02573858a3 100644
--- a/tasks.json
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         "episodes/0273",
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         "episodes/0281",
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@@ -188,42 +682,210 @@
           "wrist_2"
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     {
@@ -242,46 +904,210 @@
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     {
@@ -300,52 +1126,210 @@
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@@ -365,32 +1349,210 @@
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@@ -415,32 +1577,210 @@
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@@ -461,49 +1801,209 @@
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@@ -525,30 +2025,210 @@
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@@ -573,30 +2253,210 @@
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@@ -621,45 +2481,209 @@
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@@ -693,38 +2717,210 @@
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@@ -744,44 +2940,210 @@
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@@ -802,38 +3164,210 @@
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@@ -962,32 +3846,210 @@
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+        "episodes/1816",
+        "episodes/1817",
         "episodes/1818",
+        "episodes/1819",
+        "episodes/1820",
+        "episodes/1821",
+        "episodes/1822",
+        "episodes/1823",
         "episodes/1824",
+        "episodes/1825",
+        "episodes/1826",
+        "episodes/1827",
+        "episodes/1828",
         "episodes/1829",
+        "episodes/1830",
+        "episodes/1831",
+        "episodes/1832",
+        "episodes/1833",
         "episodes/1834",
+        "episodes/1835",
+        "episodes/1836",
+        "episodes/1837",
         "episodes/1838",
+        "episodes/1839",
+        "episodes/1840",
+        "episodes/1841",
+        "episodes/1842",
         "episodes/1843",
+        "episodes/1844",
+        "episodes/1845",
         "episodes/1846",
+        "episodes/1847",
+        "episodes/1848",
+        "episodes/1849",
+        "episodes/1850",
+        "episodes/1851",
         "episodes/1852",
+        "episodes/1853",
         "episodes/1854",
+        "episodes/1855",
+        "episodes/1856",
+        "episodes/1857",
+        "episodes/1858",
         "episodes/1859",
+        "episodes/1860",
+        "episodes/1861",
+        "episodes/1862",
+        "episodes/1863",
+        "episodes/1864",
+        "episodes/1865",
+        "episodes/1866",
+        "episodes/1867",
+        "episodes/1868",
+        "episodes/1869",
         "episodes/1870",
+        "episodes/1871",
+        "episodes/1872",
+        "episodes/1873",
+        "episodes/1874",
+        "episodes/1875",
+        "episodes/1876",
+        "episodes/1877",
+        "episodes/1878",
+        "episodes/1879",
+        "episodes/1880",
+        "episodes/1881",
+        "episodes/1882",
+        "episodes/1883",
         "episodes/1884",
+        "episodes/1885",
         "episodes/1886",
         "episodes/1887",
+        "episodes/1888",
         "episodes/1889",
         "episodes/1890",
+        "episodes/1891",
+        "episodes/1892",
         "episodes/1893",
+        "episodes/1894",
+        "episodes/1895",
         "episodes/1896",
-        "episodes/1897"
+        "episodes/1897",
+        "episodes/1898",
+        "episodes/1899"
       ]
     },
     {
@@ -1072,36 +4294,212 @@
           "wrist_4"
         ]
       ],
-      "training_episodes": 12,
+      "training_episodes": 100,
       "training_index_rows_1_based": [
-        290,
-        291,
-        292,
-        293,
-        294,
-        295,
-        296,
-        297,
-        298,
-        299,
-        300,
-        301
+        1901,
+        1902,
+        1903,
+        1904,
+        1905,
+        1906,
+        1907,
+        1908,
+        1909,
+        1910,
+        1911,
+        1912,
+        1913,
+        1914,
+        1915,
+        1916,
+        1917,
+        1918,
+        1919,
+        1920,
+        1921,
+        1922,
+        1923,
+        1924,
+        1925,
+        1926,
+        1927,
+        1928,
+        1929,
+        1930,
+        1931,
+        1932,
+        1933,
+        1934,
+        1935,
+        1936,
+        1937,
+        1938,
+        1939,
+        1940,
+        1941,
+        1942,
+        1943,
+        1944,
+        1945,
+        1946,
+        1947,
+        1948,
+        1949,
+        1950,
+        1951,
+        1952,
+        1953,
+        1954,
+        1955,
+        1956,
+        1957,
+        1958,
+        1959,
+        1960,
+        1961,
+        1962,
+        1963,
+        1964,
+        1965,
+        1966,
+        1967,
+        1968,
+        1969,
+        1970,
+        1971,
+        1972,
+        1973,
+        1974,
+        1975,
+        1976,
+        1977,
+        1978,
+        1979,
+        1980,
+        1981,
+        1982,
+        1983,
+        1984,
+        1985,
+        1986,
+        1987,
+        1988,
+        1989,
+        1990,
+        1991,
+        1992,
+        1993,
+        1994,
+        1995,
+        1996,
+        1997,
+        1998,
+        1999,
+        2000
       ],
       "episode_directories": [
+        "episodes/1900",
+        "episodes/1901",
+        "episodes/1902",
+        "episodes/1903",
+        "episodes/1904",
+        "episodes/1905",
+        "episodes/1906",
+        "episodes/1907",
+        "episodes/1908",
+        "episodes/1909",
+        "episodes/1910",
+        "episodes/1911",
+        "episodes/1912",
+        "episodes/1913",
+        "episodes/1914",
+        "episodes/1915",
         "episodes/1916",
+        "episodes/1917",
+        "episodes/1918",
+        "episodes/1919",
+        "episodes/1920",
         "episodes/1921",
+        "episodes/1922",
+        "episodes/1923",
+        "episodes/1924",
+        "episodes/1925",
+        "episodes/1926",
+        "episodes/1927",
+        "episodes/1928",
+        "episodes/1929",
+        "episodes/1930",
+        "episodes/1931",
+        "episodes/1932",
+        "episodes/1933",
         "episodes/1934",
+        "episodes/1935",
+        "episodes/1936",
+        "episodes/1937",
+        "episodes/1938",
+        "episodes/1939",
+        "episodes/1940",
+        "episodes/1941",
+        "episodes/1942",
+        "episodes/1943",
+        "episodes/1944",
+        "episodes/1945",
+        "episodes/1946",
+        "episodes/1947",
+        "episodes/1948",
         "episodes/1949",
+        "episodes/1950",
+        "episodes/1951",
+        "episodes/1952",
+        "episodes/1953",
+        "episodes/1954",
         "episodes/1955",
+        "episodes/1956",
         "episodes/1957",
+        "episodes/1958",
+        "episodes/1959",
         "episodes/1960",
+        "episodes/1961",
+        "episodes/1962",
+        "episodes/1963",
+        "episodes/1964",
+        "episodes/1965",
+        "episodes/1966",
         "episodes/1967",
+        "episodes/1968",
         "episodes/1969",
+        "episodes/1970",
+        "episodes/1971",
+        "episodes/1972",
         "episodes/1973",
+        "episodes/1974",
+        "episodes/1975",
+        "episodes/1976",
+        "episodes/1977",
+        "episodes/1978",
+        "episodes/1979",
         "episodes/1980",
-        "episodes/1991"
+        "episodes/1981",
+        "episodes/1982",
+        "episodes/1983",
+        "episodes/1984",
+        "episodes/1985",
+        "episodes/1986",
+        "episodes/1987",
+        "episodes/1988",
+        "episodes/1989",
+        "episodes/1990",
+        "episodes/1991",
+        "episodes/1992",
+        "episodes/1993",
+        "episodes/1994",
+        "episodes/1995",
+        "episodes/1996",
+        "episodes/1997",
+        "episodes/1998",
+        "episodes/1999"
       ]
     }
   ],
-  "episodes": 301
+  "episodes": 2000
 }
diff --git a/train.jsonl b/train.jsonl
index 3bb0c9912fe7ee424fbe97b86e37f6aa8359b934..d1611d2dbd81580e8800d335eb620a795127ba19 100644
--- a/train.jsonl
+++ b/train.jsonl
@@ -1,301 +1,2000 @@
+{"episode": "2026-10-15_17_12_15_586652", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1134, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0000/trajectory", "render": "episodes/0000/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.10893221199512482, 0.17363281548023224], "frying_pan": [0.21947310864925385, -0.18912650644779205]}, "source_training_index_row_1_based": 1}
+{"episode": "2026-10-15_17_16_09_806534", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1100, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0001/trajectory", "render": "episodes/0001/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.18747316300868988, 0.18335162103176117], "frying_pan": [0.19291047751903534, -0.12778130173683167]}, "source_training_index_row_1_based": 2}
+{"episode": "2026-10-19_15_34_01_029405", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1056, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0002/trajectory", "render": "episodes/0002/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.1589956134557724, 0.2617373466491699], "frying_pan": [0.20734621584415436, -0.14850899577140808]}, "source_training_index_row_1_based": 3}
+{"episode": "2026-10-15_17_32_18_342692", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1135, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0003/trajectory", "render": "episodes/0003/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.1155472919344902, 0.2735518515110016], "frying_pan": [0.17505697906017303, -0.15522989630699158]}, "source_training_index_row_1_based": 4}
 {"episode": "2026-10-15_17_35_34_506885", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1130, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0004/trajectory", "render": "episodes/0004/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.08682335168123245, 0.24905595183372498], "frying_pan": [0.20376040041446686, -0.11013509333133698]}, "table_color_rgb": [0.4901694822701708, 0.47975670642501816, 0.33163602375796697], "source_training_index_row_1_based": 5}
 {"episode": "2026-10-15_17_39_23_742595", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1108, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0005/trajectory", "render": "episodes/0005/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.09732115268707275, 0.21564191579818726], "frying_pan": [0.16313590109348297, -0.08862164616584778]}, "table_color_rgb": [0.553729346496203, 0.4421815456629067, 0.2986664129082743], "source_training_index_row_1_based": 6}
+{"episode": "2026-10-15_17_42_07_863700", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1103, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0006/trajectory", "render": "episodes/0006/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.1672893762588501, 0.22888948023319244], "frying_pan": [0.10965617746114731, -0.08090508729219437]}, "source_training_index_row_1_based": 7}
+{"episode": "2026-10-19_15_48_19_578156", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 977, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0007/trajectory", "render": "episodes/0007/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.07706166803836823, 0.1975608617067337], "frying_pan": [0.1763322651386261, -0.17779876291751862]}, "source_training_index_row_1_based": 8}
+{"episode": "2026-10-15_17_56_18_630592", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1106, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0008/trajectory", "render": "episodes/0008/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.1624932438135147, 0.2855534255504608], "frying_pan": [0.12613043189048767, -0.0715087279677391]}, "source_training_index_row_1_based": 9}
+{"episode": "2026-10-15_18_00_28_623386", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1139, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0009/trajectory", "render": "episodes/0009/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.08296777307987213, 0.2903033494949341], "frying_pan": [0.1004275307059288, -0.10618279874324799]}, "source_training_index_row_1_based": 10}
+{"episode": "2026-10-15_18_04_24_224179", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1113, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0010/trajectory", "render": "episodes/0010/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.17810820043087006, 0.25508224964141846], "frying_pan": [0.14460580050945282, -0.12620092928409576]}, "source_training_index_row_1_based": 11}
+{"episode": "2026-10-19_16_59_54_684662", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1094, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0011/trajectory", "render": "episodes/0011/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.10985982418060303, 0.23543383181095123], "frying_pan": [0.14698103070259094, -0.18755556643009186]}, "source_training_index_row_1_based": 12}
+{"episode": "2026-10-15_18_12_08_878997", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1105, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0012/trajectory", "render": "episodes/0012/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.16298384964466095, 0.18934673070907593], "frying_pan": [0.09099481254816055, -0.08064094930887222]}, "source_training_index_row_1_based": 13}
+{"episode": "2026-10-15_18_18_47_956077", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1164, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0013/trajectory", "render": "episodes/0013/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.12383571267127991, 0.3031339943408966], "frying_pan": [0.08922985196113586, -0.13168807327747345]}, "source_training_index_row_1_based": 14}
 {"episode": "2026-10-15_18_22_55_076639", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1184, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0014/trajectory", "render": "episodes/0014/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.20558257400989532, 0.2955569922924042], "frying_pan": [0.10978282243013382, -0.09747859090566635]}, "table_color_rgb": [0.6319387482934489, 0.5076390361676116, 0.32286766438344894], "source_training_index_row_1_based": 15}
 {"episode": "2026-10-15_18_27_37_622322", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1121, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0015/trajectory", "render": "episodes/0015/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.1304110735654831, 0.20790979266166687], "frying_pan": [0.14554192125797272, -0.16183556616306305]}, "table_color_rgb": [0.3934845197814415, 0.3226839301751511, 0.2138459638795847], "source_training_index_row_1_based": 16}
+{"episode": "2026-10-15_18_32_20_056208", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1091, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0016/trajectory", "render": "episodes/0016/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.1950443983078003, 0.24600914120674133], "frying_pan": [0.11821530014276505, -0.05661600083112717]}, "source_training_index_row_1_based": 17}
+{"episode": "2026-10-15_18_36_21_484064", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1098, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0017/trajectory", "render": "episodes/0017/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.14714375138282776, 0.1848212331533432], "frying_pan": [0.21195101737976074, -0.12103027105331421]}, "source_training_index_row_1_based": 18}
+{"episode": "2026-10-15_18_40_36_315108", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1109, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0018/trajectory", "render": "episodes/0018/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.13541211187839508, 0.25755417346954346], "frying_pan": [0.09695915132761002, -0.07046087831258774]}, "source_training_index_row_1_based": 19}
+{"episode": "2026-10-15_18_44_28_258162", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1106, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0019/trajectory", "render": "episodes/0019/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.17479726672172546, 0.19739283621311188], "frying_pan": [0.18278765678405762, -0.1445494443178177]}, "source_training_index_row_1_based": 20}
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+{"episode": "2026-10-15_21_04_48_054712", "task": "BananaDualArmHandover", "instruction": "Use the left arm to pick up the banana and hand it to the right arm in mid-air; the right arm then places the banana into the frying pan. Keep the two arms from colliding.", "num_steps": 1101, "views": ["obs_camera", "obs_camera_2", "wrist_1", "wrist_2"], "trajectory": "episodes/0046/trajectory", "render": "episodes/0046/render", "accepted_for_training": true, "physical_passed": true, "render_passed": true, "scene_positions": {"banana": [0.1585025191307068, 0.19957242906093597], "frying_pan": [0.16978129744529724, -0.09992482513189316]}, "source_training_index_row_1_based": 47}
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