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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/global_text_emb/manifest.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/global_text_emb/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..8426f70d8357eea32eea3234b9bbddec12496a44
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/global_text_emb/manifest.json
@@ -0,0 +1,1241 @@
+{
+  "repo_dir": "/media/damoxing/datasets/vae4d/lerobot-vae4d-org/robotwin_gt_depth/blocks_ranking_rgb-aloha-agilex_randomized_500",
+  "text_mode": "encode",
+  "num_embeddings": 137,
+  "num_segments": 500,
+  "items": [
+    {
+      "key": "03ed65682fe299a5cbfc78a671e7c0f82783e463",
+      "file": "03ed65682fe299a5cbfc78a671e7c0f82783e463.pt",
+      "normalized_text": "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.",
+      "raw_texts": [
+        "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "03f75f8744e696fa2b1f41dbab2523664284fc49",
+      "file": "03f75f8744e696fa2b1f41dbab2523664284fc49.pt",
+      "normalized_text": "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+      "raw_texts": [
+        "Place red block first, set green block beside it, and complete the row by positioning blue block."
+      ],
+      "num_links": 13
+    },
+    {
+      "key": "064ccffe681ccfce3d2e1274a1ac73274a1ea5ca",
+      "file": "064ccffe681ccfce3d2e1274a1ac73274a1ea5ca.pt",
+      "normalized_text": "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+      "raw_texts": [
+        "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block."
+      ],
+      "num_links": 4
+    },
+    {
+      "key": "06be5a56f20f4acde2e4ef8aa244f10a742567e5",
+      "file": "06be5a56f20f4acde2e4ef8aa244f10a742567e5.pt",
+      "normalized_text": "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+      "raw_texts": [
+        "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."
+      ],
+      "num_links": 4
+    },
+    {
+      "key": "09120a4659aca083cc57499011758ad3a32b512c",
+      "file": "09120a4659aca083cc57499011758ad3a32b512c.pt",
+      "normalized_text": "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.",
+      "raw_texts": [
+        "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "0c4ecce2d8c7473d2207de76d81fd910f00bbbc4",
+      "file": "0c4ecce2d8c7473d2207de76d81fd910f00bbbc4.pt",
+      "normalized_text": "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+      "raw_texts": [
+        "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "0f0850e1e5b35972de21c40356d525adaca736e0",
+      "file": "0f0850e1e5b35972de21c40356d525adaca736e0.pt",
+      "normalized_text": "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+      "raw_texts": [
+        "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block."
+      ],
+      "num_links": 4
+    },
+    {
+      "key": "1008fc14f9e21e1f933d4f5534a7f01596812cce",
+      "file": "1008fc14f9e21e1f933d4f5534a7f01596812cce.pt",
+      "normalized_text": "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+      "raw_texts": [
+        "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "1025248d5a4615fb65b214bfc362e7889d134964",
+      "file": "1025248d5a4615fb65b214bfc362e7889d134964.pt",
+      "normalized_text": "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+      "raw_texts": [
+        "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "11fd6d6cc5e1d3f638833dad90d8be6f175ab509",
+      "file": "11fd6d6cc5e1d3f638833dad90d8be6f175ab509.pt",
+      "normalized_text": "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+      "raw_texts": [
+        "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "133a72b16b5ee9f4de822334800a2fa3a4e91b73",
+      "file": "133a72b16b5ee9f4de822334800a2fa3a4e91b73.pt",
+      "normalized_text": "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+      "raw_texts": [
+        "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order."
+      ],
+      "num_links": 5
+    },
+    {
+      "key": "14151fea2281290c7ff1111c0336444fde076de9",
+      "file": "14151fea2281290c7ff1111c0336444fde076de9.pt",
+      "normalized_text": "Position red block, green block, and blue block from left to right in the specified sequence.",
+      "raw_texts": [
+        "Position red block, green block, and blue block from left to right in the specified sequence."
+      ],
+      "num_links": 8
+    },
+    {
+      "key": "16ace0e9f1d2ac4c148f9e028914a61d1c2079fe",
+      "file": "16ace0e9f1d2ac4c148f9e028914a61d1c2079fe.pt",
+      "normalized_text": "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+      "raw_texts": [
+        "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last."
+      ],
+      "num_links": 8
+    },
+    {
+      "key": "17d9585b4f1d506c2570d124b1b966fab00a2618",
+      "file": "17d9585b4f1d506c2570d124b1b966fab00a2618.pt",
+      "normalized_text": "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+      "raw_texts": [
+        "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "19a3c30977f1c768fec3dcaed7a5d27e1a5f4255",
+      "file": "19a3c30977f1c768fec3dcaed7a5d27e1a5f4255.pt",
+      "normalized_text": "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.",
+      "raw_texts": [
+        "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "1a5de6a12bf41523efa717016d1b6e948ba2295b",
+      "file": "1a5de6a12bf41523efa717016d1b6e948ba2295b.pt",
+      "normalized_text": "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+      "raw_texts": [
+        "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "1e2c9021b57f3d53373b2af4f3bc3d6ed4ffbd41",
+      "file": "1e2c9021b57f3d53373b2af4f3bc3d6ed4ffbd41.pt",
+      "normalized_text": "red block, then green block, and finally blue block should be placed in a row from left to right.",
+      "raw_texts": [
+        "red block, then green block, and finally blue block should be placed in a row from left to right."
+      ],
+      "num_links": 10
+    },
+    {
+      "key": "1e3d603f3d1d13931fde33bebfc85a7de855359e",
+      "file": "1e3d603f3d1d13931fde33bebfc85a7de855359e.pt",
+      "normalized_text": "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+      "raw_texts": [
+        "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "201ed8d6508d8cf49050e4af9a3dcdb77a4829db",
+      "file": "201ed8d6508d8cf49050e4af9a3dcdb77a4829db.pt",
+      "normalized_text": "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+      "raw_texts": [
+        "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "21314c8bb7c0d11b9d39cfdb57f10a71e4dbfcdd",
+      "file": "21314c8bb7c0d11b9d39cfdb57f10a71e4dbfcdd.pt",
+      "normalized_text": "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+      "raw_texts": [
+        "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row."
+      ],
+      "num_links": 11
+    },
+    {
+      "key": "2bd7de3db0338de121021af513958cd3c5ba0219",
+      "file": "2bd7de3db0338de121021af513958cd3c5ba0219.pt",
+      "normalized_text": "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+      "raw_texts": [
+        "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block."
+      ],
+      "num_links": 8
+    },
+    {
+      "key": "31ede4e32f9bd96f797a4588d644f59ca0050027",
+      "file": "31ede4e32f9bd96f797a4588d644f59ca0050027.pt",
+      "normalized_text": "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.",
+      "raw_texts": [
+        "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "31f86e6c0fd0b85ebcb6087fd3b6c3a1d40332ec",
+      "file": "31f86e6c0fd0b85ebcb6087fd3b6c3a1d40332ec.pt",
+      "normalized_text": "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.",
+      "raw_texts": [
+        "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "326af31962d1639bba68a4c942fc82ddec7a54b7",
+      "file": "326af31962d1639bba68a4c942fc82ddec7a54b7.pt",
+      "normalized_text": "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+      "raw_texts": [
+        "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "335794efd533af1dd7c6c6ea8baf1ed11ac72e0b",
+      "file": "335794efd533af1dd7c6c6ea8baf1ed11ac72e0b.pt",
+      "normalized_text": "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.",
+      "raw_texts": [
+        "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "35a914ddbcc26f93bf3765188d2e3b9577d78537",
+      "file": "35a914ddbcc26f93bf3765188d2e3b9577d78537.pt",
+      "normalized_text": "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.",
+      "raw_texts": [
+        "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "367cf409db9c1f702eb25bfbca788e8aa1c1a6bb",
+      "file": "367cf409db9c1f702eb25bfbca788e8aa1c1a6bb.pt",
+      "normalized_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.",
+      "raw_texts": [
+        "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "36fe03d5e428a1e29ef789a7b028d8f2d55bccab",
+      "file": "36fe03d5e428a1e29ef789a7b028d8f2d55bccab.pt",
+      "normalized_text": "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+      "raw_texts": [
+        "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "38b88ac2d4e5254d69759e9adc42f07d6b8b16fd",
+      "file": "38b88ac2d4e5254d69759e9adc42f07d6b8b16fd.pt",
+      "normalized_text": "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.",
+      "raw_texts": [
+        "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "3a5af7f8df34d26b7835eb0a1006552fb5257931",
+      "file": "3a5af7f8df34d26b7835eb0a1006552fb5257931.pt",
+      "normalized_text": "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+      "raw_texts": [
+        "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "3d8abe9b105b0a9bdc492d9bb5ec47102bf88f44",
+      "file": "3d8abe9b105b0a9bdc492d9bb5ec47102bf88f44.pt",
+      "normalized_text": "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.",
+      "raw_texts": [
+        "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row."
+      ],
+      "num_links": 4
+    },
+    {
+      "key": "3da269a13c1233caa176e336647107863a2f346b",
+      "file": "3da269a13c1233caa176e336647107863a2f346b.pt",
+      "normalized_text": "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+      "raw_texts": [
+        "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "3e08f8e967d5ca8137c460c5a034156d566ca289",
+      "file": "3e08f8e967d5ca8137c460c5a034156d566ca289.pt",
+      "normalized_text": "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+      "raw_texts": [
+        "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "3ed1700ad7476be2ca02ee2913988c7c3c3a072d",
+      "file": "3ed1700ad7476be2ca02ee2913988c7c3c3a072d.pt",
+      "normalized_text": "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+      "raw_texts": [
+        "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "420519d83ce99eb2d195dc73b7b76ed1c3c95731",
+      "file": "420519d83ce99eb2d195dc73b7b76ed1c3c95731.pt",
+      "normalized_text": "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+      "raw_texts": [
+        "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "42d23c185490708ded32f6f0d78d15332894316d",
+      "file": "42d23c185490708ded32f6f0d78d15332894316d.pt",
+      "normalized_text": "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.",
+      "raw_texts": [
+        "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "468aa656fbe77256a04822d63673a7b89213bbc1",
+      "file": "468aa656fbe77256a04822d63673a7b89213bbc1.pt",
+      "normalized_text": "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+      "raw_texts": [
+        "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right."
+      ],
+      "num_links": 12
+    },
+    {
+      "key": "476b5fd0e9addc6137ffda0cecd2893b31bab966",
+      "file": "476b5fd0e9addc6137ffda0cecd2893b31bab966.pt",
+      "normalized_text": "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.",
+      "raw_texts": [
+        "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "493361f8b3351cc1302b4875a43f8b326001a086",
+      "file": "493361f8b3351cc1302b4875a43f8b326001a086.pt",
+      "normalized_text": "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.",
+      "raw_texts": [
+        "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "4b06a8517273b92bffb29d0889fae8381fe282ee",
+      "file": "4b06a8517273b92bffb29d0889fae8381fe282ee.pt",
+      "normalized_text": "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.",
+      "raw_texts": [
+        "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue."
+      ],
+      "num_links": 5
+    },
+    {
+      "key": "4bd64a8e7dd151005ef872922d48495f9518a231",
+      "file": "4bd64a8e7dd151005ef872922d48495f9518a231.pt",
+      "normalized_text": "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+      "raw_texts": [
+        "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "4bdbae5fe2e51a88e712bc6a2f162f46b5419283",
+      "file": "4bdbae5fe2e51a88e712bc6a2f162f46b5419283.pt",
+      "normalized_text": "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.",
+      "raw_texts": [
+        "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "4c901d1152ba40d1d64f41609bc4d0d5d0cedbdf",
+      "file": "4c901d1152ba40d1d64f41609bc4d0d5d0cedbdf.pt",
+      "normalized_text": "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.",
+      "raw_texts": [
+        "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "52a2aaeea71b424fba3d4c4b856bd31125ca3314",
+      "file": "52a2aaeea71b424fba3d4c4b856bd31125ca3314.pt",
+      "normalized_text": "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+      "raw_texts": [
+        "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right."
+      ],
+      "num_links": 14
+    },
+    {
+      "key": "52d43c57c815425a3b4546ab32e0484cae5f7467",
+      "file": "52d43c57c815425a3b4546ab32e0484cae5f7467.pt",
+      "normalized_text": "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+      "raw_texts": [
+        "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "5385b8969e1e8f5d63187be3ee181b068ba9ed4d",
+      "file": "5385b8969e1e8f5d63187be3ee181b068ba9ed4d.pt",
+      "normalized_text": "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+      "raw_texts": [
+        "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "543b4bfcd06aec746611e3c043c9b1a39884aa80",
+      "file": "543b4bfcd06aec746611e3c043c9b1a39884aa80.pt",
+      "normalized_text": "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+      "raw_texts": [
+        "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue."
+      ],
+      "num_links": 10
+    },
+    {
+      "key": "564012da3d26e9ef5d952a264c082f9c8a587dfc",
+      "file": "564012da3d26e9ef5d952a264c082f9c8a587dfc.pt",
+      "normalized_text": "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.",
+      "raw_texts": [
+        "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "569671f36b4413ae79b201fdee3405eabf7ab1b1",
+      "file": "569671f36b4413ae79b201fdee3405eabf7ab1b1.pt",
+      "normalized_text": "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+      "raw_texts": [
+        "Begin by placing red block on the left, then add green block to the right, and finish with blue block."
+      ],
+      "num_links": 8
+    },
+    {
+      "key": "5bc790fdeac91fcc2373fd028441c3f3cd43c563",
+      "file": "5bc790fdeac91fcc2373fd028441c3f3cd43c563.pt",
+      "normalized_text": "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+      "raw_texts": [
+        "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row."
+      ],
+      "num_links": 5
+    },
+    {
+      "key": "5d85b3c7ff7fd9f3ecf3006379245113b3c55a8e",
+      "file": "5d85b3c7ff7fd9f3ecf3006379245113b3c55a8e.pt",
+      "normalized_text": "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+      "raw_texts": [
+        "Position red block first, followed by green block, and end with blue block in a row from left to right."
+      ],
+      "num_links": 8
+    },
+    {
+      "key": "64fe73991f6d2ef970da88a96730c368041c83d6",
+      "file": "64fe73991f6d2ef970da88a96730c368041c83d6.pt",
+      "normalized_text": "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+      "raw_texts": [
+        "Line up the objects in the order red block, green block, and blue block, starting from the left."
+      ],
+      "num_links": 8
+    },
+    {
+      "key": "67cfca2ee5403716512eb555c444bfa04cf46d70",
+      "file": "67cfca2ee5403716512eb555c444bfa04cf46d70.pt",
+      "normalized_text": "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+      "raw_texts": [
+        "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "69a1a85c5f7d4cbf3b860d18b642b4526fcaf770",
+      "file": "69a1a85c5f7d4cbf3b860d18b642b4526fcaf770.pt",
+      "normalized_text": "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+      "raw_texts": [
+        "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "6ba39bf9dad0a162a65541f2c78df8b35ecdd560",
+      "file": "6ba39bf9dad0a162a65541f2c78df8b35ecdd560.pt",
+      "normalized_text": "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+      "raw_texts": [
+        "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block."
+      ],
+      "num_links": 6
+    },
+    {
+      "key": "6cb45068ec7598ccab6a445fe7feded6f3c0e773",
+      "file": "6cb45068ec7598ccab6a445fe7feded6f3c0e773.pt",
+      "normalized_text": "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.",
+      "raw_texts": [
+        "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "6de6aff497163a71ab860bda6d7b18e3d3f3a401",
+      "file": "6de6aff497163a71ab860bda6d7b18e3d3f3a401.pt",
+      "normalized_text": "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+      "raw_texts": [
+        "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "700603607b6d233a40137abbab02e5ba1cade122",
+      "file": "700603607b6d233a40137abbab02e5ba1cade122.pt",
+      "normalized_text": "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+      "raw_texts": [
+        "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block."
+      ],
+      "num_links": 4
+    },
+    {
+      "key": "7187dd309841d8020cf9eb330f91fc3dcce01191",
+      "file": "7187dd309841d8020cf9eb330f91fc3dcce01191.pt",
+      "normalized_text": "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+      "raw_texts": [
+        "Position red block, green block, and blue block in a left-to-right sequence, forming a row."
+      ],
+      "num_links": 9
+    },
+    {
+      "key": "7592d5d20ba164bbc9188537294ef378ca6fb3ba",
+      "file": "7592d5d20ba164bbc9188537294ef378ca6fb3ba.pt",
+      "normalized_text": "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.",
+      "raw_texts": [
+        "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "7ac0606e1581ec8167a032253034eb3c1b48a997",
+      "file": "7ac0606e1581ec8167a032253034eb3c1b48a997.pt",
+      "normalized_text": "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.",
+      "raw_texts": [
+        "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "7ad2f68967fb2b05008b6ce8e877cd3d89018fef",
+      "file": "7ad2f68967fb2b05008b6ce8e877cd3d89018fef.pt",
+      "normalized_text": "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+      "raw_texts": [
+        "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "806d7d9da402605f29d80bf5b6739d907f76e9fd",
+      "file": "806d7d9da402605f29d80bf5b6739d907f76e9fd.pt",
+      "normalized_text": "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+      "raw_texts": [
+        "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "80d8a070b4fa5067fab19bb765e467bbbddb2acd",
+      "file": "80d8a070b4fa5067fab19bb765e467bbbddb2acd.pt",
+      "normalized_text": "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+      "raw_texts": [
+        "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "8381ccd8c75c45d1f7ddfd879ae69dde8db2e32c",
+      "file": "8381ccd8c75c45d1f7ddfd879ae69dde8db2e32c.pt",
+      "normalized_text": "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+      "raw_texts": [
+        "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "845a878d3d4e8c4cfca53c4ea8a94dd3a07ed209",
+      "file": "845a878d3d4e8c4cfca53c4ea8a94dd3a07ed209.pt",
+      "normalized_text": "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.",
+      "raw_texts": [
+        "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "853cb4e1287ccf291ff9efb5a3ac78e805a93ee0",
+      "file": "853cb4e1287ccf291ff9efb5a3ac78e805a93ee0.pt",
+      "normalized_text": "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+      "raw_texts": [
+        "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "86eafc8907058b3f497595ea674b0a23479ee12a",
+      "file": "86eafc8907058b3f497595ea674b0a23479ee12a.pt",
+      "normalized_text": "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+      "raw_texts": [
+        "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "8bc35a8a4f88e7d60dc952f931286265c7d37686",
+      "file": "8bc35a8a4f88e7d60dc952f931286265c7d37686.pt",
+      "normalized_text": "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+      "raw_texts": [
+        "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "8fc70e09ec7eddc7dd8191bb86003ab5a6aff39c",
+      "file": "8fc70e09ec7eddc7dd8191bb86003ab5a6aff39c.pt",
+      "normalized_text": "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+      "raw_texts": [
+        "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "90def1fd983b72562ec84615ff2d8d08d44f2939",
+      "file": "90def1fd983b72562ec84615ff2d8d08d44f2939.pt",
+      "normalized_text": "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+      "raw_texts": [
+        "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right."
+      ],
+      "num_links": 11
+    },
+    {
+      "key": "90fb55682361d2cb57d18f1dcf0051d7ada0a5c3",
+      "file": "90fb55682361d2cb57d18f1dcf0051d7ada0a5c3.pt",
+      "normalized_text": "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.",
+      "raw_texts": [
+        "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "90fec1119f30011f02d0ec41b2890c6c75079303",
+      "file": "90fec1119f30011f02d0ec41b2890c6c75079303.pt",
+      "normalized_text": "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+      "raw_texts": [
+        "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block."
+      ],
+      "num_links": 5
+    },
+    {
+      "key": "93e41648dc95ee79353730414b11d0874148800a",
+      "file": "93e41648dc95ee79353730414b11d0874148800a.pt",
+      "normalized_text": "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+      "raw_texts": [
+        "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "9466be5dd153786e561d7898ed7dacb1ae262884",
+      "file": "9466be5dd153786e561d7898ed7dacb1ae262884.pt",
+      "normalized_text": "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+      "raw_texts": [
+        "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "961079c09e02ff9a4d0c54816f434ad6f52a13a0",
+      "file": "961079c09e02ff9a4d0c54816f434ad6f52a13a0.pt",
+      "normalized_text": "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+      "raw_texts": [
+        "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "977c4690488d9f1d5c60f75a7306f074bbdf38cb",
+      "file": "977c4690488d9f1d5c60f75a7306f074bbdf38cb.pt",
+      "normalized_text": "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.",
+      "raw_texts": [
+        "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "9cd4d1944eb488318bf43f1913bec1c53916a940",
+      "file": "9cd4d1944eb488318bf43f1913bec1c53916a940.pt",
+      "normalized_text": "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+      "raw_texts": [
+        "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."
+      ],
+      "num_links": 5
+    },
+    {
+      "key": "9f8c99a23fd6280d201aa9437852ec4bbd3250a3",
+      "file": "9f8c99a23fd6280d201aa9437852ec4bbd3250a3.pt",
+      "normalized_text": "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.",
+      "raw_texts": [
+        "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a17054ce7178863e97630ad9c6f1dc026efb2b02",
+      "file": "a17054ce7178863e97630ad9c6f1dc026efb2b02.pt",
+      "normalized_text": "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+      "raw_texts": [
+        "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue."
+      ],
+      "num_links": 8
+    },
+    {
+      "key": "a2d68d48fa94d9977bca0039bb77ee8896e7481b",
+      "file": "a2d68d48fa94d9977bca0039bb77ee8896e7481b.pt",
+      "normalized_text": "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+      "raw_texts": [
+        "Grab and place red block first, followed by green block, and finish with blue block in a row."
+      ],
+      "num_links": 4
+    },
+    {
+      "key": "a3e73c69aa4e962955b05f31bcdeed7646a549b9",
+      "file": "a3e73c69aa4e962955b05f31bcdeed7646a549b9.pt",
+      "normalized_text": "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+      "raw_texts": [
+        "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a67780c7bef7f5beb259cfc941f545769098cb19",
+      "file": "a67780c7bef7f5beb259cfc941f545769098cb19.pt",
+      "normalized_text": "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+      "raw_texts": [
+        "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a771fe39cfcd02077e68b95c7e41a701211cb1a5",
+      "file": "a771fe39cfcd02077e68b95c7e41a701211cb1a5.pt",
+      "normalized_text": "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.",
+      "raw_texts": [
+        "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "aa3e6d599927c40c7ff3bbca3619b0b5e1fa758b",
+      "file": "aa3e6d599927c40c7ff3bbca3619b0b5e1fa758b.pt",
+      "normalized_text": "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+      "raw_texts": [
+        "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row."
+      ],
+      "num_links": 8
+    },
+    {
+      "key": "abbeef8c072280194a0c02c0c413c0cafdb2da0c",
+      "file": "abbeef8c072280194a0c02c0c413c0cafdb2da0c.pt",
+      "normalized_text": "Position red block first, green block second, and blue block third in a row from left to right.",
+      "raw_texts": [
+        "Position red block first, green block second, and blue block third in a row from left to right."
+      ],
+      "num_links": 11
+    },
+    {
+      "key": "aeee9fbd806c30b71d3775d97500decca4562253",
+      "file": "aeee9fbd806c30b71d3775d97500decca4562253.pt",
+      "normalized_text": "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.",
+      "raw_texts": [
+        "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "b10f9b861ae0011180cd69b11078ffe5b087f433",
+      "file": "b10f9b861ae0011180cd69b11078ffe5b087f433.pt",
+      "normalized_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the right arm.",
+      "raw_texts": [
+        "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the right arm."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "b2feb58972f62278b0d5962a89dd6845eda20734",
+      "file": "b2feb58972f62278b0d5962a89dd6845eda20734.pt",
+      "normalized_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.",
+      "raw_texts": [
+        "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm."
+      ],
+      "num_links": 4
+    },
+    {
+      "key": "b49e610003e520b24a32f997b57463dc19c62691",
+      "file": "b49e610003e520b24a32f997b57463dc19c62691.pt",
+      "normalized_text": "Start with red block, followed by green block and blue block, placing them in order left to right.",
+      "raw_texts": [
+        "Start with red block, followed by green block and blue block, placing them in order left to right."
+      ],
+      "num_links": 12
+    },
+    {
+      "key": "b718ae9a3779a5e5d7b6ede0cd09b66a2176da70",
+      "file": "b718ae9a3779a5e5d7b6ede0cd09b66a2176da70.pt",
+      "normalized_text": "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+      "raw_texts": [
+        "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block."
+      ],
+      "num_links": 15
+    },
+    {
+      "key": "b74c1719ac3544d85b99f734b53250c08e30bd53",
+      "file": "b74c1719ac3544d85b99f734b53250c08e30bd53.pt",
+      "normalized_text": "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+      "raw_texts": [
+        "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "ba04d190aa8a965f839910f26f8e81e1043ed522",
+      "file": "ba04d190aa8a965f839910f26f8e81e1043ed522.pt",
+      "normalized_text": "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.",
+      "raw_texts": [
+        "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "bc937eff2efe2ce9ed1f705a230852efaeea73df",
+      "file": "bc937eff2efe2ce9ed1f705a230852efaeea73df.pt",
+      "normalized_text": "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+      "raw_texts": [
+        "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "bdec4013fb5b4c4c8a5f49e98bfabde3d9be4643",
+      "file": "bdec4013fb5b4c4c8a5f49e98bfabde3d9be4643.pt",
+      "normalized_text": "First, place red block, then green block beside it, and finally blue block next to green block.",
+      "raw_texts": [
+        "First, place red block, then green block beside it, and finally blue block next to green block."
+      ],
+      "num_links": 9
+    },
+    {
+      "key": "c31288a370a9325406bf6e54271abf4267c44d58",
+      "file": "c31288a370a9325406bf6e54271abf4267c44d58.pt",
+      "normalized_text": "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+      "raw_texts": [
+        "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm."
+      ],
+      "num_links": 4
+    },
+    {
+      "key": "c3b53652099a403144674214f07bee863e1a308a",
+      "file": "c3b53652099a403144674214f07bee863e1a308a.pt",
+      "normalized_text": "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.",
+      "raw_texts": [
+        "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "c44d46138964d2ff3060f92221807d6189f116ad",
+      "file": "c44d46138964d2ff3060f92221807d6189f116ad.pt",
+      "normalized_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.",
+      "raw_texts": [
+        "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "c7f456b0f721113746ffe337bb9419ea33d90ead",
+      "file": "c7f456b0f721113746ffe337bb9419ea33d90ead.pt",
+      "normalized_text": "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+      "raw_texts": [
+        "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "ca7ee2561c981de149881fec44d47e8a66b7a6a3",
+      "file": "ca7ee2561c981de149881fec44d47e8a66b7a6a3.pt",
+      "normalized_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.",
+      "raw_texts": [
+        "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "cb60e2197c792b89e7a3ac069d9e72586e270c04",
+      "file": "cb60e2197c792b89e7a3ac069d9e72586e270c04.pt",
+      "normalized_text": "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.",
+      "raw_texts": [
+        "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "cc1fe3228a3f40efe0cedec5134f19d911bcb0a6",
+      "file": "cc1fe3228a3f40efe0cedec5134f19d911bcb0a6.pt",
+      "normalized_text": "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+      "raw_texts": [
+        "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "cc9ebd9d6086e767cd24f2532110c65d1665b299",
+      "file": "cc9ebd9d6086e767cd24f2532110c65d1665b299.pt",
+      "normalized_text": "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+      "raw_texts": [
+        "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "ccd7bcb46ec98b740e799e34f3f1fc553d03c340",
+      "file": "ccd7bcb46ec98b740e799e34f3f1fc553d03c340.pt",
+      "normalized_text": "Using the left arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+      "raw_texts": [
+        "Using the left arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "cd2d1ea08844456c183dff5e8d4b5f20fdbf64a9",
+      "file": "cd2d1ea08844456c183dff5e8d4b5f20fdbf64a9.pt",
+      "normalized_text": "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+      "raw_texts": [
+        "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "d1479faa4dc8155415319a27e02735ecf57c7b4c",
+      "file": "d1479faa4dc8155415319a27e02735ecf57c7b4c.pt",
+      "normalized_text": "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+      "raw_texts": [
+        "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion."
+      ],
+      "num_links": 10
+    },
+    {
+      "key": "d4dad37fe246c759210bf07fb0a0bdd2c1bd0cec",
+      "file": "d4dad37fe246c759210bf07fb0a0bdd2c1bd0cec.pt",
+      "normalized_text": "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+      "raw_texts": [
+        "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "d99a3da2356ba7bf1a9ecc292979793209b48bcc",
+      "file": "d99a3da2356ba7bf1a9ecc292979793209b48bcc.pt",
+      "normalized_text": "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.",
+      "raw_texts": [
+        "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "dd9e7e11504dc1fa42a0f14a1b92b8d6d0682ddd",
+      "file": "dd9e7e11504dc1fa42a0f14a1b92b8d6d0682ddd.pt",
+      "normalized_text": "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+      "raw_texts": [
+        "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "df45b1a594f80a6b07fe04a200bc76eab46b131c",
+      "file": "df45b1a594f80a6b07fe04a200bc76eab46b131c.pt",
+      "normalized_text": "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+      "raw_texts": [
+        "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block."
+      ],
+      "num_links": 4
+    },
+    {
+      "key": "df9ed2e176e8a958dcb4aefbc45afd40f7a36323",
+      "file": "df9ed2e176e8a958dcb4aefbc45afd40f7a36323.pt",
+      "normalized_text": "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.",
+      "raw_texts": [
+        "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order."
+      ],
+      "num_links": 4
+    },
+    {
+      "key": "e00be2a55daf70237d62c5ce08d93266363e7f68",
+      "file": "e00be2a55daf70237d62c5ce08d93266363e7f68.pt",
+      "normalized_text": "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+      "raw_texts": [
+        "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "e148c0bcc363d9d731721b103025c85f27009969",
+      "file": "e148c0bcc363d9d731721b103025c85f27009969.pt",
+      "normalized_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.",
+      "raw_texts": [
+        "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm."
+      ],
+      "num_links": 4
+    },
+    {
+      "key": "e2b5c1df0093df90bf9a62b8eef054b5a6cbbfd9",
+      "file": "e2b5c1df0093df90bf9a62b8eef054b5a6cbbfd9.pt",
+      "normalized_text": "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+      "raw_texts": [
+        "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e2e1ac0d8618f5e31549e616f84b7ba0c93cd8ab",
+      "file": "e2e1ac0d8618f5e31549e616f84b7ba0c93cd8ab.pt",
+      "normalized_text": "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+      "raw_texts": [
+        "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "e42926c997b15f119d8c8d6df5896fafffa6ac41",
+      "file": "e42926c997b15f119d8c8d6df5896fafffa6ac41.pt",
+      "normalized_text": "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+      "raw_texts": [
+        "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "e74a6016509aa75de206d740e8e3eafe767a5b8e",
+      "file": "e74a6016509aa75de206d740e8e3eafe767a5b8e.pt",
+      "normalized_text": "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.",
+      "raw_texts": [
+        "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e917f8394bf28f033e52b2d2877d3951f8ce4e87",
+      "file": "e917f8394bf28f033e52b2d2877d3951f8ce4e87.pt",
+      "normalized_text": "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.",
+      "raw_texts": [
+        "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "eb594bdcbdea7b3cce59b6781d6d7b9dc2026935",
+      "file": "eb594bdcbdea7b3cce59b6781d6d7b9dc2026935.pt",
+      "normalized_text": "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+      "raw_texts": [
+        "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "eb8e13c9e7fcb3a2746757caee537fffc4c20b84",
+      "file": "eb8e13c9e7fcb3a2746757caee537fffc4c20b84.pt",
+      "normalized_text": "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+      "raw_texts": [
+        "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions."
+      ],
+      "num_links": 11
+    },
+    {
+      "key": "ed27f0446a03eaa80ed25bd13c9fa47bd8471547",
+      "file": "ed27f0446a03eaa80ed25bd13c9fa47bd8471547.pt",
+      "normalized_text": "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.",
+      "raw_texts": [
+        "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "ef5594ec7978c40751e23e04c0140a84f1b13f1d",
+      "file": "ef5594ec7978c40751e23e04c0140a84f1b13f1d.pt",
+      "normalized_text": "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.",
+      "raw_texts": [
+        "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "f1c63a269e126375ec295977f1e4129236158690",
+      "file": "f1c63a269e126375ec295977f1e4129236158690.pt",
+      "normalized_text": "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+      "raw_texts": [
+        "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "f303c5103ab67ee3793c434de005fa5ed8c56111",
+      "file": "f303c5103ab67ee3793c434de005fa5ed8c56111.pt",
+      "normalized_text": "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+      "raw_texts": [
+        "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "f4e16bf4552f5b573124de23503e2586f1f05a02",
+      "file": "f4e16bf4552f5b573124de23503e2586f1f05a02.pt",
+      "normalized_text": "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+      "raw_texts": [
+        "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "f5fd888d2f7c01a8c0abe76537a4932e05324d75",
+      "file": "f5fd888d2f7c01a8c0abe76537a4932e05324d75.pt",
+      "normalized_text": "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+      "raw_texts": [
+        "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block."
+      ],
+      "num_links": 4
+    },
+    {
+      "key": "f7823639c5578bda14a1178055d76259fc0c5780",
+      "file": "f7823639c5578bda14a1178055d76259fc0c5780.pt",
+      "normalized_text": "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+      "raw_texts": [
+        "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."
+      ],
+      "num_links": 7
+    },
+    {
+      "key": "f7c9d76e890f58afc4d518211700960d42629fe5",
+      "file": "f7c9d76e890f58afc4d518211700960d42629fe5.pt",
+      "normalized_text": "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+      "raw_texts": [
+        "First, place red block on the far left, then green block in the middle, and finish with blue block on the right."
+      ],
+      "num_links": 14
+    },
+    {
+      "key": "f84caddd98bae880540997c1d8bf82e853f90788",
+      "file": "f84caddd98bae880540997c1d8bf82e853f90788.pt",
+      "normalized_text": "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+      "raw_texts": [
+        "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "f8d54360452079b6b3e3fb19a1daa562ede03f81",
+      "file": "f8d54360452079b6b3e3fb19a1daa562ede03f81.pt",
+      "normalized_text": "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+      "raw_texts": [
+        "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "f922c1f2c0ab276eee20b46809aef6b38911fb3c",
+      "file": "f922c1f2c0ab276eee20b46809aef6b38911fb3c.pt",
+      "normalized_text": "Using the left arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+      "raw_texts": [
+        "Using the left arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "fc169b1ec474025953d6d4eb991e5212173db7eb",
+      "file": "fc169b1ec474025953d6d4eb991e5212173db7eb.pt",
+      "normalized_text": "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+      "raw_texts": [
+        "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "fc667e39f78069b8bb39d94ab35fa5f6ba20d0ca",
+      "file": "fc667e39f78069b8bb39d94ab35fa5f6ba20d0ca.pt",
+      "normalized_text": "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+      "raw_texts": [
+        "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "fd369a9d07b95e31f46be0a27fd90cfad4b476a7",
+      "file": "fd369a9d07b95e31f46be0a27fd90cfad4b476a7.pt",
+      "normalized_text": "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+      "raw_texts": [
+        "Start with red block on the left, add green block next to it, and then place blue block on the right."
+      ],
+      "num_links": 8
+    },
+    {
+      "key": "fd9825c315e768db6bf5f37a280adf8914e534ad",
+      "file": "fd9825c315e768db6bf5f37a280adf8914e534ad.pt",
+      "normalized_text": "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+      "raw_texts": [
+        "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "fdc1eea75d7c759ac8e4fa93bdc1bea156092d81",
+      "file": "fdc1eea75d7c759ac8e4fa93bdc1bea156092d81.pt",
+      "normalized_text": "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+      "raw_texts": [
+        "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "ff956eee3e23f215d86368682274d849e69da81d",
+      "file": "ff956eee3e23f215d86368682274d849e69da81d.pt",
+      "normalized_text": "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+      "raw_texts": [
+        "Place red block first on the far left, green block next to it, and blue block last on the far right."
+      ],
+      "num_links": 10
+    }
+  ]
+}
\ No newline at end of file
diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/episodes.jsonl b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..392dd6c02ee6205dfb7d6f4e8cbf6f1906c0fdcb
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/episodes.jsonl
@@ -0,0 +1,500 @@
+{"episode_index": 0, "tasks": ["Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue."], "length": 447, "action_config": [{"start_frame": 0, "end_frame": 447, "action_text": "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 1, "tasks": ["Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last."], "length": 442, "action_config": [{"start_frame": 0, "end_frame": 442, "action_text": "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", "skill": ""}]}
+{"episode_index": 2, "tasks": ["Start with red block on the left, followed by green block next to red block, and end with blue block on the far right."], "length": 445, "action_config": [{"start_frame": 0, "end_frame": 445, "action_text": "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", "skill": ""}]}
+{"episode_index": 3, "tasks": ["Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block."], "length": 447, "action_config": [{"start_frame": 0, "end_frame": 447, "action_text": "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", "skill": ""}]}
+{"episode_index": 4, "tasks": ["Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 5, "tasks": ["Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row."], "length": 440, "action_config": [{"start_frame": 0, "end_frame": 440, "action_text": "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", "skill": ""}]}
+{"episode_index": 6, "tasks": ["First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right."], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 456, "action_text": "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", "skill": ""}]}
+{"episode_index": 7, "tasks": ["Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row."], "length": 454, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", "skill": ""}]}
+{"episode_index": 8, "tasks": ["Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 9, "tasks": ["Line up the objects in the order red block, green block, and blue block, starting from the left."], "length": 474, "action_config": [{"start_frame": 0, "end_frame": 474, "action_text": "Line up the objects in the order red block, green block, and blue block, starting from the left.", "skill": ""}]}
+{"episode_index": 10, "tasks": ["Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right."], "length": 478, "action_config": [{"start_frame": 0, "end_frame": 478, "action_text": "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", "skill": ""}]}
+{"episode_index": 11, "tasks": ["Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block."], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", "skill": ""}]}
+{"episode_index": 12, "tasks": ["Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue."], "length": 454, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 13, "tasks": ["Start with red block on the left, followed by green block next to red block, and end with blue block on the far right."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", "skill": ""}]}
+{"episode_index": 14, "tasks": ["Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", "skill": ""}]}
+{"episode_index": 15, "tasks": ["Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block."], "length": 446, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", "skill": ""}]}
+{"episode_index": 16, "tasks": ["Position red block first, followed by green block, and end with blue block in a row from left to right."], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "Position red block first, followed by green block, and end with blue block in a row from left to right.", "skill": ""}]}
+{"episode_index": 17, "tasks": ["Position red block, green block, and blue block on a surface from left to right in the order red, green, blue."], "length": 471, "action_config": [{"start_frame": 0, "end_frame": 471, "action_text": "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 18, "tasks": ["Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm."], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 456, "action_text": "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", "skill": ""}]}
+{"episode_index": 19, "tasks": ["Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block."], "length": 445, "action_config": [{"start_frame": 0, "end_frame": 445, "action_text": "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 20, "tasks": ["Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block."], "length": 468, "action_config": [{"start_frame": 0, "end_frame": 468, "action_text": "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", "skill": ""}]}
+{"episode_index": 21, "tasks": ["Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 22, "tasks": ["Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right."], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 452, "action_text": "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", "skill": ""}]}
+{"episode_index": 23, "tasks": ["Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row."], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 470, "action_text": "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", "skill": ""}]}
+{"episode_index": 24, "tasks": ["With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", "skill": ""}]}
+{"episode_index": 25, "tasks": ["Start with red block on the left, followed by green block next to red block, and end with blue block on the far right."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", "skill": ""}]}
+{"episode_index": 26, "tasks": ["Pick up red block, green block, and blue block in sequence and position them in a left-to-right row."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", "skill": ""}]}
+{"episode_index": 27, "tasks": ["Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order."], "length": 473, "action_config": [{"start_frame": 0, "end_frame": 473, "action_text": "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", "skill": ""}]}
+{"episode_index": 28, "tasks": ["Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right."], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", "skill": ""}]}
+{"episode_index": 29, "tasks": ["Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", "skill": ""}]}
+{"episode_index": 30, "tasks": ["Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."], "length": 453, "action_config": [{"start_frame": 0, "end_frame": 453, "action_text": "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", "skill": ""}]}
+{"episode_index": 31, "tasks": ["Start with red block, followed by green block and blue block, placing them in order left to right."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "Start with red block, followed by green block and blue block, placing them in order left to right.", "skill": ""}]}
+{"episode_index": 32, "tasks": ["Place red block first on the far left, green block next to it, and blue block last on the far right."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Place red block first on the far left, green block next to it, and blue block last on the far right.", "skill": ""}]}
+{"episode_index": 33, "tasks": ["Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 34, "tasks": ["Place red block first on the far left, green block next to it, and blue block last on the far right."], "length": 443, "action_config": [{"start_frame": 0, "end_frame": 443, "action_text": "Place red block first on the far left, green block next to it, and blue block last on the far right.", "skill": ""}]}
+{"episode_index": 35, "tasks": ["Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 36, "tasks": ["Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."], "length": 443, "action_config": [{"start_frame": 0, "end_frame": 443, "action_text": "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", "skill": ""}]}
+{"episode_index": 37, "tasks": ["First, place red block, then green block beside it, and finally blue block next to green block."], "length": 462, "action_config": [{"start_frame": 0, "end_frame": 462, "action_text": "First, place red block, then green block beside it, and finally blue block next to green block.", "skill": ""}]}
+{"episode_index": 38, "tasks": ["Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm."], "length": 442, "action_config": [{"start_frame": 0, "end_frame": 442, "action_text": "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", "skill": ""}]}
+{"episode_index": 39, "tasks": ["Place red block first, set green block beside it, and complete the row by positioning blue block."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Place red block first, set green block beside it, and complete the row by positioning blue block.", "skill": ""}]}
+{"episode_index": 40, "tasks": ["Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", "skill": ""}]}
+{"episode_index": 41, "tasks": ["Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", "skill": ""}]}
+{"episode_index": 42, "tasks": ["Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right."], "length": 479, "action_config": [{"start_frame": 0, "end_frame": 479, "action_text": "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", "skill": ""}]}
+{"episode_index": 43, "tasks": ["First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right."], "length": 435, "action_config": [{"start_frame": 0, "end_frame": 435, "action_text": "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", "skill": ""}]}
+{"episode_index": 44, "tasks": ["Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm."], "length": 441, "action_config": [{"start_frame": 0, "end_frame": 441, "action_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", "skill": ""}]}
+{"episode_index": 45, "tasks": ["Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue."], "length": 438, "action_config": [{"start_frame": 0, "end_frame": 438, "action_text": "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 46, "tasks": ["Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row."], "length": 495, "action_config": [{"start_frame": 0, "end_frame": 495, "action_text": "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", "skill": ""}]}
+{"episode_index": 47, "tasks": ["Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block."], "length": 475, "action_config": [{"start_frame": 0, "end_frame": 475, "action_text": "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 48, "tasks": ["Position red block, green block, and blue block in a left-to-right sequence, forming a row."], "length": 454, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", "skill": ""}]}
+{"episode_index": 49, "tasks": ["Start with red block on the left, add green block next to it, and then place blue block on the right."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "Start with red block on the left, add green block next to it, and then place blue block on the right.", "skill": ""}]}
+{"episode_index": 50, "tasks": ["Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order."], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", "skill": ""}]}
+{"episode_index": 51, "tasks": ["First, place red block, then green block beside it, and finally blue block next to green block."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "First, place red block, then green block beside it, and finally blue block next to green block.", "skill": ""}]}
+{"episode_index": 52, "tasks": ["Line up the objects in the order red block, green block, and blue block, starting from the left."], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 452, "action_text": "Line up the objects in the order red block, green block, and blue block, starting from the left.", "skill": ""}]}
+{"episode_index": 53, "tasks": ["Using the left arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "Using the left arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", "skill": ""}]}
+{"episode_index": 54, "tasks": ["Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions."], "length": 439, "action_config": [{"start_frame": 0, "end_frame": 439, "action_text": "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", "skill": ""}]}
+{"episode_index": 55, "tasks": ["Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right."], "length": 441, "action_config": [{"start_frame": 0, "end_frame": 441, "action_text": "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", "skill": ""}]}
+{"episode_index": 56, "tasks": ["With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", "skill": ""}]}
+{"episode_index": 57, "tasks": ["Place red block to the left, green block in the middle, and blue block on the right in a linear fashion."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", "skill": ""}]}
+{"episode_index": 58, "tasks": ["Position red block, green block, and blue block in a left-to-right sequence, forming a row."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", "skill": ""}]}
+{"episode_index": 59, "tasks": ["Line up the objects in the order red block, green block, and blue block, starting from the left."], "length": 454, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "Line up the objects in the order red block, green block, and blue block, starting from the left.", "skill": ""}]}
+{"episode_index": 60, "tasks": ["Position red block first, green block second, and blue block third in a row from left to right."], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "Position red block first, green block second, and blue block third in a row from left to right.", "skill": ""}]}
+{"episode_index": 61, "tasks": ["First, place red block on the far left, then green block in the middle, and finish with blue block on the right."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", "skill": ""}]}
+{"episode_index": 62, "tasks": ["Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order."], "length": 446, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", "skill": ""}]}
+{"episode_index": 63, "tasks": ["Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block."], "length": 437, "action_config": [{"start_frame": 0, "end_frame": 437, "action_text": "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", "skill": ""}]}
+{"episode_index": 64, "tasks": ["Grab and place red block first, followed by green block, and finish with blue block in a row."], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "Grab and place red block first, followed by green block, and finish with blue block in a row.", "skill": ""}]}
+{"episode_index": 65, "tasks": ["Place red block first, set green block beside it, and complete the row by positioning blue block."], "length": 457, "action_config": [{"start_frame": 0, "end_frame": 457, "action_text": "Place red block first, set green block beside it, and complete the row by positioning blue block.", "skill": ""}]}
+{"episode_index": 66, "tasks": ["Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", "skill": ""}]}
+{"episode_index": 67, "tasks": ["Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right."], "length": 449, "action_config": [{"start_frame": 0, "end_frame": 449, "action_text": "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", "skill": ""}]}
+{"episode_index": 68, "tasks": ["Using the left arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."], "length": 454, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "Using the left arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", "skill": ""}]}
+{"episode_index": 69, "tasks": ["Pick up red block, green block, and blue block in sequence and position them in a left-to-right row."], "length": 480, "action_config": [{"start_frame": 0, "end_frame": 480, "action_text": "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", "skill": ""}]}
+{"episode_index": 70, "tasks": ["Start with red block on the left, followed by green block next to red block, and end with blue block on the far right."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", "skill": ""}]}
+{"episode_index": 71, "tasks": ["Position red block, green block, and blue block from left to right in the specified sequence."], "length": 444, "action_config": [{"start_frame": 0, "end_frame": 444, "action_text": "Position red block, green block, and blue block from left to right in the specified sequence.", "skill": ""}]}
+{"episode_index": 72, "tasks": ["With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", "skill": ""}]}
+{"episode_index": 73, "tasks": ["First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", "skill": ""}]}
+{"episode_index": 74, "tasks": ["Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right."], "length": 446, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", "skill": ""}]}
+{"episode_index": 75, "tasks": ["With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."], "length": 469, "action_config": [{"start_frame": 0, "end_frame": 469, "action_text": "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", "skill": ""}]}
+{"episode_index": 76, "tasks": ["Position red block first, followed by green block, and end with blue block in a row from left to right."], "length": 448, "action_config": [{"start_frame": 0, "end_frame": 448, "action_text": "Position red block first, followed by green block, and end with blue block in a row from left to right.", "skill": ""}]}
+{"episode_index": 77, "tasks": ["Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", "skill": ""}]}
+{"episode_index": 78, "tasks": ["With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row."], "length": 444, "action_config": [{"start_frame": 0, "end_frame": 444, "action_text": "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", "skill": ""}]}
+{"episode_index": 79, "tasks": ["Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right."], "length": 468, "action_config": [{"start_frame": 0, "end_frame": 468, "action_text": "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", "skill": ""}]}
+{"episode_index": 80, "tasks": ["Place red block first, set green block beside it, and complete the row by positioning blue block."], "length": 457, "action_config": [{"start_frame": 0, "end_frame": 457, "action_text": "Place red block first, set green block beside it, and complete the row by positioning blue block.", "skill": ""}]}
+{"episode_index": 81, "tasks": ["Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row."], "length": 472, "action_config": [{"start_frame": 0, "end_frame": 472, "action_text": "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", "skill": ""}]}
+{"episode_index": 82, "tasks": ["Start with red block, followed by green block and blue block, placing them in order left to right."], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 456, "action_text": "Start with red block, followed by green block and blue block, placing them in order left to right.", "skill": ""}]}
+{"episode_index": 83, "tasks": ["Place red block first on the far left, green block next to it, and blue block last on the far right."], "length": 447, "action_config": [{"start_frame": 0, "end_frame": 447, "action_text": "Place red block first on the far left, green block next to it, and blue block last on the far right.", "skill": ""}]}
+{"episode_index": 84, "tasks": ["Line up the objects in the order red block, green block, and blue block, starting from the left."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Line up the objects in the order red block, green block, and blue block, starting from the left.", "skill": ""}]}
+{"episode_index": 85, "tasks": ["Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", "skill": ""}]}
+{"episode_index": 86, "tasks": ["First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", "skill": ""}]}
+{"episode_index": 87, "tasks": ["Start with red block, followed by green block and blue block, placing them in order left to right."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Start with red block, followed by green block and blue block, placing them in order left to right.", "skill": ""}]}
+{"episode_index": 88, "tasks": ["Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", "skill": ""}]}
+{"episode_index": 89, "tasks": ["Pick up red block, green block, and blue block in sequence and position them in a left-to-right row."], "length": 454, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", "skill": ""}]}
+{"episode_index": 90, "tasks": ["First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", "skill": ""}]}
+{"episode_index": 91, "tasks": ["Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 92, "tasks": ["Set red block, green block, and blue block side by side in the order of red block, green block, then blue block."], "length": 454, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", "skill": ""}]}
+{"episode_index": 93, "tasks": ["Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block."], "length": 473, "action_config": [{"start_frame": 0, "end_frame": 473, "action_text": "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", "skill": ""}]}
+{"episode_index": 94, "tasks": ["Start with red block on the left, followed by green block next to red block, and end with blue block on the far right."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", "skill": ""}]}
+{"episode_index": 95, "tasks": ["Position red block, green block, and blue block from left to right in the specified sequence."], "length": 476, "action_config": [{"start_frame": 0, "end_frame": 476, "action_text": "Position red block, green block, and blue block from left to right in the specified sequence.", "skill": ""}]}
+{"episode_index": 96, "tasks": ["Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row."], "length": 444, "action_config": [{"start_frame": 0, "end_frame": 444, "action_text": "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", "skill": ""}]}
+{"episode_index": 97, "tasks": ["Position red block first, green block second, and blue block third in a row from left to right."], "length": 431, "action_config": [{"start_frame": 0, "end_frame": 431, "action_text": "Position red block first, green block second, and blue block third in a row from left to right.", "skill": ""}]}
+{"episode_index": 98, "tasks": ["Place red block to the left, green block in the middle, and blue block on the right in a linear fashion."], "length": 462, "action_config": [{"start_frame": 0, "end_frame": 462, "action_text": "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", "skill": ""}]}
+{"episode_index": 99, "tasks": ["Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."], "length": 440, "action_config": [{"start_frame": 0, "end_frame": 440, "action_text": "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", "skill": ""}]}
+{"episode_index": 100, "tasks": ["Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right."], "length": 446, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", "skill": ""}]}
+{"episode_index": 101, "tasks": ["Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right."], "length": 449, "action_config": [{"start_frame": 0, "end_frame": 449, "action_text": "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", "skill": ""}]}
+{"episode_index": 102, "tasks": ["Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", "skill": ""}]}
+{"episode_index": 103, "tasks": ["Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", "skill": ""}]}
+{"episode_index": 104, "tasks": ["Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right."], "length": 476, "action_config": [{"start_frame": 0, "end_frame": 476, "action_text": "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", "skill": ""}]}
+{"episode_index": 105, "tasks": ["Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue."], "length": 471, "action_config": [{"start_frame": 0, "end_frame": 471, "action_text": "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 106, "tasks": ["Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order."], "length": 489, "action_config": [{"start_frame": 0, "end_frame": 489, "action_text": "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", "skill": ""}]}
+{"episode_index": 107, "tasks": ["Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block."], "length": 444, "action_config": [{"start_frame": 0, "end_frame": 444, "action_text": "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", "skill": ""}]}
+{"episode_index": 108, "tasks": ["Position red block first, green block second, and blue block third in a row from left to right."], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 470, "action_text": "Position red block first, green block second, and blue block third in a row from left to right.", "skill": ""}]}
+{"episode_index": 109, "tasks": ["Position red block, green block, and blue block from left to right in the specified sequence."], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 456, "action_text": "Position red block, green block, and blue block from left to right in the specified sequence.", "skill": ""}]}
+{"episode_index": 110, "tasks": ["Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", "skill": ""}]}
+{"episode_index": 111, "tasks": ["Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block."], "length": 453, "action_config": [{"start_frame": 0, "end_frame": 453, "action_text": "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", "skill": ""}]}
+{"episode_index": 112, "tasks": ["First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block."], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 470, "action_text": "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", "skill": ""}]}
+{"episode_index": 113, "tasks": ["Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right."], "length": 446, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", "skill": ""}]}
+{"episode_index": 114, "tasks": ["First, place red block on the far left, then green block in the middle, and finish with blue block on the right."], "length": 448, "action_config": [{"start_frame": 0, "end_frame": 448, "action_text": "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", "skill": ""}]}
+{"episode_index": 115, "tasks": ["Place red block to the left, green block in the middle, and blue block on the right in a linear fashion."], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", "skill": ""}]}
+{"episode_index": 116, "tasks": ["Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order."], "length": 462, "action_config": [{"start_frame": 0, "end_frame": 462, "action_text": "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", "skill": ""}]}
+{"episode_index": 117, "tasks": ["Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row."], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", "skill": ""}]}
+{"episode_index": 118, "tasks": ["Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", "skill": ""}]}
+{"episode_index": 119, "tasks": ["Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm."], "length": 469, "action_config": [{"start_frame": 0, "end_frame": 469, "action_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", "skill": ""}]}
+{"episode_index": 120, "tasks": ["Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", "skill": ""}]}
+{"episode_index": 121, "tasks": ["Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", "skill": ""}]}
+{"episode_index": 122, "tasks": ["First, place red block on the far left, then green block in the middle, and finish with blue block on the right."], "length": 469, "action_config": [{"start_frame": 0, "end_frame": 469, "action_text": "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", "skill": ""}]}
+{"episode_index": 123, "tasks": ["Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", "skill": ""}]}
+{"episode_index": 124, "tasks": ["Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", "skill": ""}]}
+{"episode_index": 125, "tasks": ["Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block."], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 456, "action_text": "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 126, "tasks": ["Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block."], "length": 445, "action_config": [{"start_frame": 0, "end_frame": 445, "action_text": "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", "skill": ""}]}
+{"episode_index": 127, "tasks": ["Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block."], "length": 447, "action_config": [{"start_frame": 0, "end_frame": 447, "action_text": "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 128, "tasks": ["Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block."], "length": 444, "action_config": [{"start_frame": 0, "end_frame": 444, "action_text": "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 129, "tasks": ["Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right."], "length": 443, "action_config": [{"start_frame": 0, "end_frame": 443, "action_text": "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", "skill": ""}]}
+{"episode_index": 130, "tasks": ["First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", "skill": ""}]}
+{"episode_index": 131, "tasks": ["Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", "skill": ""}]}
+{"episode_index": 132, "tasks": ["Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order."], "length": 480, "action_config": [{"start_frame": 0, "end_frame": 480, "action_text": "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", "skill": ""}]}
+{"episode_index": 133, "tasks": ["Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", "skill": ""}]}
+{"episode_index": 134, "tasks": ["Position red block, green block, and blue block on a surface from left to right in the order red, green, blue."], "length": 453, "action_config": [{"start_frame": 0, "end_frame": 453, "action_text": "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 135, "tasks": ["Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block."], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", "skill": ""}]}
+{"episode_index": 136, "tasks": ["Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 137, "tasks": ["Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", "skill": ""}]}
+{"episode_index": 138, "tasks": ["First, place red block on the far left, then green block in the middle, and finish with blue block on the right."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", "skill": ""}]}
+{"episode_index": 139, "tasks": ["With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", "skill": ""}]}
+{"episode_index": 140, "tasks": ["Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", "skill": ""}]}
+{"episode_index": 141, "tasks": ["Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", "skill": ""}]}
+{"episode_index": 142, "tasks": ["Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right."], "length": 468, "action_config": [{"start_frame": 0, "end_frame": 468, "action_text": "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", "skill": ""}]}
+{"episode_index": 143, "tasks": ["Begin by placing red block on the left, then add green block to the right, and finish with blue block."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", "skill": ""}]}
+{"episode_index": 144, "tasks": ["Grab and place red block first, followed by green block, and finish with blue block in a row."], "length": 448, "action_config": [{"start_frame": 0, "end_frame": 448, "action_text": "Grab and place red block first, followed by green block, and finish with blue block in a row.", "skill": ""}]}
+{"episode_index": 145, "tasks": ["Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."], "length": 472, "action_config": [{"start_frame": 0, "end_frame": 472, "action_text": "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", "skill": ""}]}
+{"episode_index": 146, "tasks": ["Begin by placing red block on the left, then add green block to the right, and finish with blue block."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", "skill": ""}]}
+{"episode_index": 147, "tasks": ["Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", "skill": ""}]}
+{"episode_index": 148, "tasks": ["Position red block first, followed by green block, and end with blue block in a row from left to right."], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "Position red block first, followed by green block, and end with blue block in a row from left to right.", "skill": ""}]}
+{"episode_index": 149, "tasks": ["Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right."], "length": 468, "action_config": [{"start_frame": 0, "end_frame": 468, "action_text": "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", "skill": ""}]}
+{"episode_index": 150, "tasks": ["First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block."], "length": 457, "action_config": [{"start_frame": 0, "end_frame": 457, "action_text": "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", "skill": ""}]}
+{"episode_index": 151, "tasks": ["First, place red block on the far left, then green block in the middle, and finish with blue block on the right."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", "skill": ""}]}
+{"episode_index": 152, "tasks": ["Place red block first, set green block beside it, and complete the row by positioning blue block."], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "Place red block first, set green block beside it, and complete the row by positioning blue block.", "skill": ""}]}
+{"episode_index": 153, "tasks": ["Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", "skill": ""}]}
+{"episode_index": 154, "tasks": ["Place red block first on the far left, green block next to it, and blue block last on the far right."], "length": 462, "action_config": [{"start_frame": 0, "end_frame": 462, "action_text": "Place red block first on the far left, green block next to it, and blue block last on the far right.", "skill": ""}]}
+{"episode_index": 155, "tasks": ["Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block."], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 470, "action_text": "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", "skill": ""}]}
+{"episode_index": 156, "tasks": ["Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", "skill": ""}]}
+{"episode_index": 157, "tasks": ["Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last."], "length": 477, "action_config": [{"start_frame": 0, "end_frame": 477, "action_text": "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", "skill": ""}]}
+{"episode_index": 158, "tasks": ["Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", "skill": ""}]}
+{"episode_index": 159, "tasks": ["Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm."], "length": 477, "action_config": [{"start_frame": 0, "end_frame": 477, "action_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", "skill": ""}]}
+{"episode_index": 160, "tasks": ["Set red block, green block, and blue block side by side in the order of red block, green block, then blue block."], "length": 441, "action_config": [{"start_frame": 0, "end_frame": 441, "action_text": "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", "skill": ""}]}
+{"episode_index": 161, "tasks": ["Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."], "length": 457, "action_config": [{"start_frame": 0, "end_frame": 457, "action_text": "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", "skill": ""}]}
+{"episode_index": 162, "tasks": ["Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm."], "length": 474, "action_config": [{"start_frame": 0, "end_frame": 474, "action_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", "skill": ""}]}
+{"episode_index": 163, "tasks": ["Set red block, green block, and blue block side by side in the order of red block, green block, then blue block."], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", "skill": ""}]}
+{"episode_index": 164, "tasks": ["Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block."], "length": 439, "action_config": [{"start_frame": 0, "end_frame": 439, "action_text": "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", "skill": ""}]}
+{"episode_index": 165, "tasks": ["Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block."], "length": 445, "action_config": [{"start_frame": 0, "end_frame": 445, "action_text": "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 166, "tasks": ["red block, then green block, and finally blue block should be placed in a row from left to right."], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 470, "action_text": "red block, then green block, and finally blue block should be placed in a row from left to right.", "skill": ""}]}
+{"episode_index": 167, "tasks": ["Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", "skill": ""}]}
+{"episode_index": 168, "tasks": ["Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block."], "length": 475, "action_config": [{"start_frame": 0, "end_frame": 475, "action_text": "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", "skill": ""}]}
+{"episode_index": 169, "tasks": ["Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", "skill": ""}]}
+{"episode_index": 170, "tasks": ["Begin by placing red block on the left, then add green block to the right, and finish with blue block."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", "skill": ""}]}
+{"episode_index": 171, "tasks": ["Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."], "length": 473, "action_config": [{"start_frame": 0, "end_frame": 473, "action_text": "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", "skill": ""}]}
+{"episode_index": 172, "tasks": ["Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", "skill": ""}]}
+{"episode_index": 173, "tasks": ["Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions."], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 470, "action_text": "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", "skill": ""}]}
+{"episode_index": 174, "tasks": ["Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block."], "length": 445, "action_config": [{"start_frame": 0, "end_frame": 445, "action_text": "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 175, "tasks": ["Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block."], "length": 447, "action_config": [{"start_frame": 0, "end_frame": 447, "action_text": "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", "skill": ""}]}
+{"episode_index": 176, "tasks": ["Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block."], "length": 457, "action_config": [{"start_frame": 0, "end_frame": 457, "action_text": "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", "skill": ""}]}
+{"episode_index": 177, "tasks": ["Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right."], "length": 469, "action_config": [{"start_frame": 0, "end_frame": 469, "action_text": "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", "skill": ""}]}
+{"episode_index": 178, "tasks": ["First, place red block, then green block beside it, and finally blue block next to green block."], "length": 474, "action_config": [{"start_frame": 0, "end_frame": 474, "action_text": "First, place red block, then green block beside it, and finally blue block next to green block.", "skill": ""}]}
+{"episode_index": 179, "tasks": ["Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block."], "length": 469, "action_config": [{"start_frame": 0, "end_frame": 469, "action_text": "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", "skill": ""}]}
+{"episode_index": 180, "tasks": ["Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block."], "length": 502, "action_config": [{"start_frame": 0, "end_frame": 502, "action_text": "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", "skill": ""}]}
+{"episode_index": 181, "tasks": ["Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", "skill": ""}]}
+{"episode_index": 182, "tasks": ["red block, then green block, and finally blue block should be placed in a row from left to right."], "length": 453, "action_config": [{"start_frame": 0, "end_frame": 453, "action_text": "red block, then green block, and finally blue block should be placed in a row from left to right.", "skill": ""}]}
+{"episode_index": 183, "tasks": ["Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", "skill": ""}]}
+{"episode_index": 184, "tasks": ["Start with red block on the left, followed by green block next to red block, and end with blue block on the far right."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", "skill": ""}]}
+{"episode_index": 185, "tasks": ["Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions."], "length": 446, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", "skill": ""}]}
+{"episode_index": 186, "tasks": ["First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right."], "length": 446, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", "skill": ""}]}
+{"episode_index": 187, "tasks": ["Place red block first, set green block beside it, and complete the row by positioning blue block."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Place red block first, set green block beside it, and complete the row by positioning blue block.", "skill": ""}]}
+{"episode_index": 188, "tasks": ["Start with red block, followed by green block and blue block, placing them in order left to right."], "length": 447, "action_config": [{"start_frame": 0, "end_frame": 447, "action_text": "Start with red block, followed by green block and blue block, placing them in order left to right.", "skill": ""}]}
+{"episode_index": 189, "tasks": ["Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row."], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 452, "action_text": "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", "skill": ""}]}
+{"episode_index": 190, "tasks": ["Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm."], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 456, "action_text": "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", "skill": ""}]}
+{"episode_index": 191, "tasks": ["Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", "skill": ""}]}
+{"episode_index": 192, "tasks": ["Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right."], "length": 447, "action_config": [{"start_frame": 0, "end_frame": 447, "action_text": "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", "skill": ""}]}
+{"episode_index": 193, "tasks": ["Place red block to the left, green block in the middle, and blue block on the right in a linear fashion."], "length": 444, "action_config": [{"start_frame": 0, "end_frame": 444, "action_text": "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", "skill": ""}]}
+{"episode_index": 194, "tasks": ["Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", "skill": ""}]}
+{"episode_index": 195, "tasks": ["Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block."], "length": 441, "action_config": [{"start_frame": 0, "end_frame": 441, "action_text": "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", "skill": ""}]}
+{"episode_index": 196, "tasks": ["Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", "skill": ""}]}
+{"episode_index": 197, "tasks": ["Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block."], "length": 441, "action_config": [{"start_frame": 0, "end_frame": 441, "action_text": "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", "skill": ""}]}
+{"episode_index": 198, "tasks": ["Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order."], "length": 454, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", "skill": ""}]}
+{"episode_index": 199, "tasks": ["Position red block first, green block second, and blue block third in a row from left to right."], "length": 453, "action_config": [{"start_frame": 0, "end_frame": 453, "action_text": "Position red block first, green block second, and blue block third in a row from left to right.", "skill": ""}]}
+{"episode_index": 200, "tasks": ["Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the right arm."], "length": 448, "action_config": [{"start_frame": 0, "end_frame": 448, "action_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the right arm.", "skill": ""}]}
+{"episode_index": 201, "tasks": ["Position red block first, green block second, and blue block third in a row from left to right."], "length": 449, "action_config": [{"start_frame": 0, "end_frame": 449, "action_text": "Position red block first, green block second, and blue block third in a row from left to right.", "skill": ""}]}
+{"episode_index": 202, "tasks": ["First, place red block on the far left, then green block in the middle, and finish with blue block on the right."], "length": 454, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", "skill": ""}]}
+{"episode_index": 203, "tasks": ["Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block."], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", "skill": ""}]}
+{"episode_index": 204, "tasks": ["Position red block first, green block second, and blue block third in a row from left to right."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "Position red block first, green block second, and blue block third in a row from left to right.", "skill": ""}]}
+{"episode_index": 205, "tasks": ["Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm."], "length": 475, "action_config": [{"start_frame": 0, "end_frame": 475, "action_text": "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", "skill": ""}]}
+{"episode_index": 206, "tasks": ["With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", "skill": ""}]}
+{"episode_index": 207, "tasks": ["Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", "skill": ""}]}
+{"episode_index": 208, "tasks": ["Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", "skill": ""}]}
+{"episode_index": 209, "tasks": ["First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block."], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 452, "action_text": "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", "skill": ""}]}
+{"episode_index": 210, "tasks": ["Position red block, green block, and blue block in a left-to-right sequence, forming a row."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", "skill": ""}]}
+{"episode_index": 211, "tasks": ["red block, then green block, and finally blue block should be placed in a row from left to right."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "red block, then green block, and finally blue block should be placed in a row from left to right.", "skill": ""}]}
+{"episode_index": 212, "tasks": ["Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row."], "length": 448, "action_config": [{"start_frame": 0, "end_frame": 448, "action_text": "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", "skill": ""}]}
+{"episode_index": 213, "tasks": ["Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block."], "length": 437, "action_config": [{"start_frame": 0, "end_frame": 437, "action_text": "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", "skill": ""}]}
+{"episode_index": 214, "tasks": ["Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue."], "length": 441, "action_config": [{"start_frame": 0, "end_frame": 441, "action_text": "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 215, "tasks": ["Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block."], "length": 440, "action_config": [{"start_frame": 0, "end_frame": 440, "action_text": "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", "skill": ""}]}
+{"episode_index": 216, "tasks": ["Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order."], "length": 508, "action_config": [{"start_frame": 0, "end_frame": 508, "action_text": "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", "skill": ""}]}
+{"episode_index": 217, "tasks": ["Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block."], "length": 475, "action_config": [{"start_frame": 0, "end_frame": 475, "action_text": "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", "skill": ""}]}
+{"episode_index": 218, "tasks": ["Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block."], "length": 453, "action_config": [{"start_frame": 0, "end_frame": 453, "action_text": "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", "skill": ""}]}
+{"episode_index": 219, "tasks": ["Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 220, "tasks": ["Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row."], "length": 449, "action_config": [{"start_frame": 0, "end_frame": 449, "action_text": "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", "skill": ""}]}
+{"episode_index": 221, "tasks": ["Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", "skill": ""}]}
+{"episode_index": 222, "tasks": ["Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", "skill": ""}]}
+{"episode_index": 223, "tasks": ["Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue."], "length": 462, "action_config": [{"start_frame": 0, "end_frame": 462, "action_text": "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 224, "tasks": ["Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", "skill": ""}]}
+{"episode_index": 225, "tasks": ["Position red block, green block, and blue block from left to right in the specified sequence."], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 470, "action_text": "Position red block, green block, and blue block from left to right in the specified sequence.", "skill": ""}]}
+{"episode_index": 226, "tasks": ["Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block."], "length": 439, "action_config": [{"start_frame": 0, "end_frame": 439, "action_text": "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", "skill": ""}]}
+{"episode_index": 227, "tasks": ["Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", "skill": ""}]}
+{"episode_index": 228, "tasks": ["Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", "skill": ""}]}
+{"episode_index": 229, "tasks": ["Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order."], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", "skill": ""}]}
+{"episode_index": 230, "tasks": ["Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right."], "length": 443, "action_config": [{"start_frame": 0, "end_frame": 443, "action_text": "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", "skill": ""}]}
+{"episode_index": 231, "tasks": ["With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", "skill": ""}]}
+{"episode_index": 232, "tasks": ["Position red block, green block, and blue block on a surface from left to right in the order red, green, blue."], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 233, "tasks": ["Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm."], "length": 445, "action_config": [{"start_frame": 0, "end_frame": 445, "action_text": "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", "skill": ""}]}
+{"episode_index": 234, "tasks": ["Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row."], "length": 446, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", "skill": ""}]}
+{"episode_index": 235, "tasks": ["Start with red block on the left, add green block next to it, and then place blue block on the right."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Start with red block on the left, add green block next to it, and then place blue block on the right.", "skill": ""}]}
+{"episode_index": 236, "tasks": ["Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", "skill": ""}]}
+{"episode_index": 237, "tasks": ["Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", "skill": ""}]}
+{"episode_index": 238, "tasks": ["With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."], "length": 453, "action_config": [{"start_frame": 0, "end_frame": 453, "action_text": "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", "skill": ""}]}
+{"episode_index": 239, "tasks": ["Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", "skill": ""}]}
+{"episode_index": 240, "tasks": ["Place red block first, set green block beside it, and complete the row by positioning blue block."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Place red block first, set green block beside it, and complete the row by positioning blue block.", "skill": ""}]}
+{"episode_index": 241, "tasks": ["Position red block, green block, and blue block from left to right in the specified sequence."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Position red block, green block, and blue block from left to right in the specified sequence.", "skill": ""}]}
+{"episode_index": 242, "tasks": ["Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue."], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 456, "action_text": "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 243, "tasks": ["Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block."], "length": 476, "action_config": [{"start_frame": 0, "end_frame": 476, "action_text": "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 244, "tasks": ["Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", "skill": ""}]}
+{"episode_index": 245, "tasks": ["Place red block first on the far left, green block next to it, and blue block last on the far right."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Place red block first on the far left, green block next to it, and blue block last on the far right.", "skill": ""}]}
+{"episode_index": 246, "tasks": ["First, place red block on the far left, then green block in the middle, and finish with blue block on the right."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", "skill": ""}]}
+{"episode_index": 247, "tasks": ["Pick up red block, green block, and blue block in sequence and position them in a left-to-right row."], "length": 473, "action_config": [{"start_frame": 0, "end_frame": 473, "action_text": "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", "skill": ""}]}
+{"episode_index": 248, "tasks": ["Place red block first, set green block beside it, and complete the row by positioning blue block."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Place red block first, set green block beside it, and complete the row by positioning blue block.", "skill": ""}]}
+{"episode_index": 249, "tasks": ["red block, then green block, and finally blue block should be placed in a row from left to right."], "length": 430, "action_config": [{"start_frame": 0, "end_frame": 430, "action_text": "red block, then green block, and finally blue block should be placed in a row from left to right.", "skill": ""}]}
+{"episode_index": 250, "tasks": ["Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue."], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 251, "tasks": ["Start with red block on the left, followed by green block next to red block, and end with blue block on the far right."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", "skill": ""}]}
+{"episode_index": 252, "tasks": ["First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block."], "length": 454, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", "skill": ""}]}
+{"episode_index": 253, "tasks": ["Start with red block, followed by green block and blue block, placing them in order left to right."], "length": 444, "action_config": [{"start_frame": 0, "end_frame": 444, "action_text": "Start with red block, followed by green block and blue block, placing them in order left to right.", "skill": ""}]}
+{"episode_index": 254, "tasks": ["Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block."], "length": 444, "action_config": [{"start_frame": 0, "end_frame": 444, "action_text": "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 255, "tasks": ["Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last."], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", "skill": ""}]}
+{"episode_index": 256, "tasks": ["Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", "skill": ""}]}
+{"episode_index": 257, "tasks": ["Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block."], "length": 443, "action_config": [{"start_frame": 0, "end_frame": 443, "action_text": "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", "skill": ""}]}
+{"episode_index": 258, "tasks": ["Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", "skill": ""}]}
+{"episode_index": 259, "tasks": ["Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", "skill": ""}]}
+{"episode_index": 260, "tasks": ["red block, then green block, and finally blue block should be placed in a row from left to right."], "length": 445, "action_config": [{"start_frame": 0, "end_frame": 445, "action_text": "red block, then green block, and finally blue block should be placed in a row from left to right.", "skill": ""}]}
+{"episode_index": 261, "tasks": ["Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right."], "length": 454, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", "skill": ""}]}
+{"episode_index": 262, "tasks": ["First, place red block on the far left, then green block in the middle, and finish with blue block on the right."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", "skill": ""}]}
+{"episode_index": 263, "tasks": ["Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue."], "length": 436, "action_config": [{"start_frame": 0, "end_frame": 436, "action_text": "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 264, "tasks": ["Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row."], "length": 449, "action_config": [{"start_frame": 0, "end_frame": 449, "action_text": "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", "skill": ""}]}
+{"episode_index": 265, "tasks": ["Line up the objects in the order red block, green block, and blue block, starting from the left."], "length": 474, "action_config": [{"start_frame": 0, "end_frame": 474, "action_text": "Line up the objects in the order red block, green block, and blue block, starting from the left.", "skill": ""}]}
+{"episode_index": 266, "tasks": ["Line up the objects in the order red block, green block, and blue block, starting from the left."], "length": 432, "action_config": [{"start_frame": 0, "end_frame": 432, "action_text": "Line up the objects in the order red block, green block, and blue block, starting from the left.", "skill": ""}]}
+{"episode_index": 267, "tasks": ["Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue."], "length": 457, "action_config": [{"start_frame": 0, "end_frame": 457, "action_text": "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 268, "tasks": ["Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", "skill": ""}]}
+{"episode_index": 269, "tasks": ["First, place red block, then green block beside it, and finally blue block next to green block."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "First, place red block, then green block beside it, and finally blue block next to green block.", "skill": ""}]}
+{"episode_index": 270, "tasks": ["Pick up red block, green block, and blue block in sequence and position them in a left-to-right row."], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 456, "action_text": "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", "skill": ""}]}
+{"episode_index": 271, "tasks": ["Position red block, green block, and blue block in a left-to-right sequence, forming a row."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", "skill": ""}]}
+{"episode_index": 272, "tasks": ["Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 273, "tasks": ["Set red block, green block, and blue block side by side in the order of red block, green block, then blue block."], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 456, "action_text": "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", "skill": ""}]}
+{"episode_index": 274, "tasks": ["Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row."], "length": 472, "action_config": [{"start_frame": 0, "end_frame": 472, "action_text": "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", "skill": ""}]}
+{"episode_index": 275, "tasks": ["Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm."], "length": 435, "action_config": [{"start_frame": 0, "end_frame": 435, "action_text": "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", "skill": ""}]}
+{"episode_index": 276, "tasks": ["Position red block, green block, and blue block on a surface from left to right in the order red, green, blue."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 277, "tasks": ["Place red block to the left, green block in the middle, and blue block on the right in a linear fashion."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", "skill": ""}]}
+{"episode_index": 278, "tasks": ["Line up the objects in the order red block, green block, and blue block, starting from the left."], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 470, "action_text": "Line up the objects in the order red block, green block, and blue block, starting from the left.", "skill": ""}]}
+{"episode_index": 279, "tasks": ["red block, then green block, and finally blue block should be placed in a row from left to right."], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 470, "action_text": "red block, then green block, and finally blue block should be placed in a row from left to right.", "skill": ""}]}
+{"episode_index": 280, "tasks": ["Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row."], "length": 468, "action_config": [{"start_frame": 0, "end_frame": 468, "action_text": "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", "skill": ""}]}
+{"episode_index": 281, "tasks": ["Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", "skill": ""}]}
+{"episode_index": 282, "tasks": ["Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right."], "length": 469, "action_config": [{"start_frame": 0, "end_frame": 469, "action_text": "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", "skill": ""}]}
+{"episode_index": 283, "tasks": ["Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", "skill": ""}]}
+{"episode_index": 284, "tasks": ["Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm."], "length": 448, "action_config": [{"start_frame": 0, "end_frame": 448, "action_text": "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", "skill": ""}]}
+{"episode_index": 285, "tasks": ["Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block."], "length": 469, "action_config": [{"start_frame": 0, "end_frame": 469, "action_text": "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", "skill": ""}]}
+{"episode_index": 286, "tasks": ["Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue."], "length": 449, "action_config": [{"start_frame": 0, "end_frame": 449, "action_text": "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 287, "tasks": ["Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", "skill": ""}]}
+{"episode_index": 288, "tasks": ["Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", "skill": ""}]}
+{"episode_index": 289, "tasks": ["Start with red block, followed by green block and blue block, placing them in order left to right."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Start with red block, followed by green block and blue block, placing them in order left to right.", "skill": ""}]}
+{"episode_index": 290, "tasks": ["Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", "skill": ""}]}
+{"episode_index": 291, "tasks": ["Pick up red block, green block, and blue block in sequence and position them in a left-to-right row."], "length": 457, "action_config": [{"start_frame": 0, "end_frame": 457, "action_text": "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", "skill": ""}]}
+{"episode_index": 292, "tasks": ["Start with red block on the left, followed by green block next to red block, and end with blue block on the far right."], "length": 468, "action_config": [{"start_frame": 0, "end_frame": 468, "action_text": "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", "skill": ""}]}
+{"episode_index": 293, "tasks": ["First, place red block, then green block beside it, and finally blue block next to green block."], "length": 445, "action_config": [{"start_frame": 0, "end_frame": 445, "action_text": "First, place red block, then green block beside it, and finally blue block next to green block.", "skill": ""}]}
+{"episode_index": 294, "tasks": ["First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", "skill": ""}]}
+{"episode_index": 295, "tasks": ["Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block."], "length": 448, "action_config": [{"start_frame": 0, "end_frame": 448, "action_text": "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", "skill": ""}]}
+{"episode_index": 296, "tasks": ["Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row."], "length": 471, "action_config": [{"start_frame": 0, "end_frame": 471, "action_text": "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", "skill": ""}]}
+{"episode_index": 297, "tasks": ["Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", "skill": ""}]}
+{"episode_index": 298, "tasks": ["Position red block, green block, and blue block in a left-to-right sequence, forming a row."], "length": 475, "action_config": [{"start_frame": 0, "end_frame": 475, "action_text": "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", "skill": ""}]}
+{"episode_index": 299, "tasks": ["Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", "skill": ""}]}
+{"episode_index": 300, "tasks": ["Start with red block on the left, followed by green block next to red block, and end with blue block on the far right."], "length": 469, "action_config": [{"start_frame": 0, "end_frame": 469, "action_text": "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", "skill": ""}]}
+{"episode_index": 301, "tasks": ["Start with red block on the left, followed by green block next to red block, and end with blue block on the far right."], "length": 479, "action_config": [{"start_frame": 0, "end_frame": 479, "action_text": "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", "skill": ""}]}
+{"episode_index": 302, "tasks": ["Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", "skill": ""}]}
+{"episode_index": 303, "tasks": ["First, place red block on the far left, then green block in the middle, and finish with blue block on the right."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", "skill": ""}]}
+{"episode_index": 304, "tasks": ["Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row."], "length": 440, "action_config": [{"start_frame": 0, "end_frame": 440, "action_text": "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", "skill": ""}]}
+{"episode_index": 305, "tasks": ["red block, then green block, and finally blue block should be placed in a row from left to right."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "red block, then green block, and finally blue block should be placed in a row from left to right.", "skill": ""}]}
+{"episode_index": 306, "tasks": ["Position red block, green block, and blue block on a surface from left to right in the order red, green, blue."], "length": 457, "action_config": [{"start_frame": 0, "end_frame": 457, "action_text": "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 307, "tasks": ["First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right."], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", "skill": ""}]}
+{"episode_index": 308, "tasks": ["Place red block to the left, green block in the middle, and blue block on the right in a linear fashion."], "length": 448, "action_config": [{"start_frame": 0, "end_frame": 448, "action_text": "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", "skill": ""}]}
+{"episode_index": 309, "tasks": ["Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block."], "length": 449, "action_config": [{"start_frame": 0, "end_frame": 449, "action_text": "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", "skill": ""}]}
+{"episode_index": 310, "tasks": ["Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", "skill": ""}]}
+{"episode_index": 311, "tasks": ["Start with red block, followed by green block and blue block, placing them in order left to right."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Start with red block, followed by green block and blue block, placing them in order left to right.", "skill": ""}]}
+{"episode_index": 312, "tasks": ["Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", "skill": ""}]}
+{"episode_index": 313, "tasks": ["Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."], "length": 473, "action_config": [{"start_frame": 0, "end_frame": 473, "action_text": "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", "skill": ""}]}
+{"episode_index": 314, "tasks": ["First, place red block on the far left, then green block in the middle, and finish with blue block on the right."], "length": 473, "action_config": [{"start_frame": 0, "end_frame": 473, "action_text": "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", "skill": ""}]}
+{"episode_index": 315, "tasks": ["Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 316, "tasks": ["Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block."], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 470, "action_text": "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", "skill": ""}]}
+{"episode_index": 317, "tasks": ["Start with red block on the left, add green block next to it, and then place blue block on the right."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "Start with red block on the left, add green block next to it, and then place blue block on the right.", "skill": ""}]}
+{"episode_index": 318, "tasks": ["Position red block first, followed by green block, and end with blue block in a row from left to right."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "Position red block first, followed by green block, and end with blue block in a row from left to right.", "skill": ""}]}
+{"episode_index": 319, "tasks": ["With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."], "length": 449, "action_config": [{"start_frame": 0, "end_frame": 449, "action_text": "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", "skill": ""}]}
+{"episode_index": 320, "tasks": ["First, place red block, then green block beside it, and finally blue block next to green block."], "length": 453, "action_config": [{"start_frame": 0, "end_frame": 453, "action_text": "First, place red block, then green block beside it, and finally blue block next to green block.", "skill": ""}]}
+{"episode_index": 321, "tasks": ["Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block."], "length": 457, "action_config": [{"start_frame": 0, "end_frame": 457, "action_text": "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", "skill": ""}]}
+{"episode_index": 322, "tasks": ["Place red block first, set green block beside it, and complete the row by positioning blue block."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "Place red block first, set green block beside it, and complete the row by positioning blue block.", "skill": ""}]}
+{"episode_index": 323, "tasks": ["Start with red block, followed by green block and blue block, placing them in order left to right."], "length": 475, "action_config": [{"start_frame": 0, "end_frame": 475, "action_text": "Start with red block, followed by green block and blue block, placing them in order left to right.", "skill": ""}]}
+{"episode_index": 324, "tasks": ["Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block."], "length": 448, "action_config": [{"start_frame": 0, "end_frame": 448, "action_text": "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", "skill": ""}]}
+{"episode_index": 325, "tasks": ["First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right."], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", "skill": ""}]}
+{"episode_index": 326, "tasks": ["Position red block, green block, and blue block on a surface from left to right in the order red, green, blue."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 327, "tasks": ["Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", "skill": ""}]}
+{"episode_index": 328, "tasks": ["Begin by placing red block on the left, then add green block to the right, and finish with blue block."], "length": 438, "action_config": [{"start_frame": 0, "end_frame": 438, "action_text": "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", "skill": ""}]}
+{"episode_index": 329, "tasks": ["Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block."], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 456, "action_text": "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", "skill": ""}]}
+{"episode_index": 330, "tasks": ["red block, then green block, and finally blue block should be placed in a row from left to right."], "length": 432, "action_config": [{"start_frame": 0, "end_frame": 432, "action_text": "red block, then green block, and finally blue block should be placed in a row from left to right.", "skill": ""}]}
+{"episode_index": 331, "tasks": ["Start with red block on the left, add green block next to it, and then place blue block on the right."], "length": 468, "action_config": [{"start_frame": 0, "end_frame": 468, "action_text": "Start with red block on the left, add green block next to it, and then place blue block on the right.", "skill": ""}]}
+{"episode_index": 332, "tasks": ["Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", "skill": ""}]}
+{"episode_index": 333, "tasks": ["Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block."], "length": 447, "action_config": [{"start_frame": 0, "end_frame": 447, "action_text": "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", "skill": ""}]}
+{"episode_index": 334, "tasks": ["Start with red block, followed by green block and blue block, placing them in order left to right."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Start with red block, followed by green block and blue block, placing them in order left to right.", "skill": ""}]}
+{"episode_index": 335, "tasks": ["Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", "skill": ""}]}
+{"episode_index": 336, "tasks": ["Line up the objects in the order red block, green block, and blue block, starting from the left."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Line up the objects in the order red block, green block, and blue block, starting from the left.", "skill": ""}]}
+{"episode_index": 337, "tasks": ["Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block."], "length": 478, "action_config": [{"start_frame": 0, "end_frame": 478, "action_text": "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", "skill": ""}]}
+{"episode_index": 338, "tasks": ["Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", "skill": ""}]}
+{"episode_index": 339, "tasks": ["Position red block first, green block second, and blue block third in a row from left to right."], "length": 438, "action_config": [{"start_frame": 0, "end_frame": 438, "action_text": "Position red block first, green block second, and blue block third in a row from left to right.", "skill": ""}]}
+{"episode_index": 340, "tasks": ["Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", "skill": ""}]}
+{"episode_index": 341, "tasks": ["Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block."], "length": 454, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", "skill": ""}]}
+{"episode_index": 342, "tasks": ["With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", "skill": ""}]}
+{"episode_index": 343, "tasks": ["Start with red block, followed by green block and blue block, placing them in order left to right."], "length": 441, "action_config": [{"start_frame": 0, "end_frame": 441, "action_text": "Start with red block, followed by green block and blue block, placing them in order left to right.", "skill": ""}]}
+{"episode_index": 344, "tasks": ["Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", "skill": ""}]}
+{"episode_index": 345, "tasks": ["Grab and place red block first, followed by green block, and finish with blue block in a row."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Grab and place red block first, followed by green block, and finish with blue block in a row.", "skill": ""}]}
+{"episode_index": 346, "tasks": ["Place red block first, set green block beside it, and complete the row by positioning blue block."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "Place red block first, set green block beside it, and complete the row by positioning blue block.", "skill": ""}]}
+{"episode_index": 347, "tasks": ["Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", "skill": ""}]}
+{"episode_index": 348, "tasks": ["Position red block first, followed by green block, and end with blue block in a row from left to right."], "length": 457, "action_config": [{"start_frame": 0, "end_frame": 457, "action_text": "Position red block first, followed by green block, and end with blue block in a row from left to right.", "skill": ""}]}
+{"episode_index": 349, "tasks": ["Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block."], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 452, "action_text": "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", "skill": ""}]}
+{"episode_index": 350, "tasks": ["Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."], "length": 471, "action_config": [{"start_frame": 0, "end_frame": 471, "action_text": "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", "skill": ""}]}
+{"episode_index": 351, "tasks": ["Pick up red block, green block, and blue block in sequence and position them in a left-to-right row."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", "skill": ""}]}
+{"episode_index": 352, "tasks": ["Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block."], "length": 468, "action_config": [{"start_frame": 0, "end_frame": 468, "action_text": "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", "skill": ""}]}
+{"episode_index": 353, "tasks": ["Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", "skill": ""}]}
+{"episode_index": 354, "tasks": ["Position red block, green block, and blue block in a left-to-right sequence, forming a row."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", "skill": ""}]}
+{"episode_index": 355, "tasks": ["red block, then green block, and finally blue block should be placed in a row from left to right."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "red block, then green block, and finally blue block should be placed in a row from left to right.", "skill": ""}]}
+{"episode_index": 356, "tasks": ["Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order."], "length": 439, "action_config": [{"start_frame": 0, "end_frame": 439, "action_text": "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", "skill": ""}]}
+{"episode_index": 357, "tasks": ["Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row."], "length": 445, "action_config": [{"start_frame": 0, "end_frame": 445, "action_text": "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", "skill": ""}]}
+{"episode_index": 358, "tasks": ["Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order."], "length": 453, "action_config": [{"start_frame": 0, "end_frame": 453, "action_text": "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", "skill": ""}]}
+{"episode_index": 359, "tasks": ["red block, then green block, and finally blue block should be placed in a row from left to right."], "length": 442, "action_config": [{"start_frame": 0, "end_frame": 442, "action_text": "red block, then green block, and finally blue block should be placed in a row from left to right.", "skill": ""}]}
+{"episode_index": 360, "tasks": ["Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 470, "action_text": "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", "skill": ""}]}
+{"episode_index": 361, "tasks": ["Position red block first, green block second, and blue block third in a row from left to right."], "length": 480, "action_config": [{"start_frame": 0, "end_frame": 480, "action_text": "Position red block first, green block second, and blue block third in a row from left to right.", "skill": ""}]}
+{"episode_index": 362, "tasks": ["Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions."], "length": 462, "action_config": [{"start_frame": 0, "end_frame": 462, "action_text": "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", "skill": ""}]}
+{"episode_index": 363, "tasks": ["Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", "skill": ""}]}
+{"episode_index": 364, "tasks": ["Position red block, green block, and blue block on a surface from left to right in the order red, green, blue."], "length": 437, "action_config": [{"start_frame": 0, "end_frame": 437, "action_text": "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 365, "tasks": ["Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block."], "length": 453, "action_config": [{"start_frame": 0, "end_frame": 453, "action_text": "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", "skill": ""}]}
+{"episode_index": 366, "tasks": ["Begin by placing red block on the left, then add green block to the right, and finish with blue block."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", "skill": ""}]}
+{"episode_index": 367, "tasks": ["With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", "skill": ""}]}
+{"episode_index": 368, "tasks": ["Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", "skill": ""}]}
+{"episode_index": 369, "tasks": ["Position red block, green block, and blue block in a left-to-right sequence, forming a row."], "length": 476, "action_config": [{"start_frame": 0, "end_frame": 476, "action_text": "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", "skill": ""}]}
+{"episode_index": 370, "tasks": ["Position red block first, followed by green block, and end with blue block in a row from left to right."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Position red block first, followed by green block, and end with blue block in a row from left to right.", "skill": ""}]}
+{"episode_index": 371, "tasks": ["Start with red block on the left, add green block next to it, and then place blue block on the right."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Start with red block on the left, add green block next to it, and then place blue block on the right.", "skill": ""}]}
+{"episode_index": 372, "tasks": ["Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block."], "length": 453, "action_config": [{"start_frame": 0, "end_frame": 453, "action_text": "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 373, "tasks": ["Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", "skill": ""}]}
+{"episode_index": 374, "tasks": ["Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", "skill": ""}]}
+{"episode_index": 375, "tasks": ["Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", "skill": ""}]}
+{"episode_index": 376, "tasks": ["Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", "skill": ""}]}
+{"episode_index": 377, "tasks": ["Place red block first on the far left, green block next to it, and blue block last on the far right."], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "Place red block first on the far left, green block next to it, and blue block last on the far right.", "skill": ""}]}
+{"episode_index": 378, "tasks": ["Position red block first, green block second, and blue block third in a row from left to right."], "length": 474, "action_config": [{"start_frame": 0, "end_frame": 474, "action_text": "Position red block first, green block second, and blue block third in a row from left to right.", "skill": ""}]}
+{"episode_index": 379, "tasks": ["Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", "skill": ""}]}
+{"episode_index": 380, "tasks": ["Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 381, "tasks": ["Begin by placing red block on the left, then add green block to the right, and finish with blue block."], "length": 473, "action_config": [{"start_frame": 0, "end_frame": 473, "action_text": "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", "skill": ""}]}
+{"episode_index": 382, "tasks": ["First, place red block, then green block beside it, and finally blue block next to green block."], "length": 457, "action_config": [{"start_frame": 0, "end_frame": 457, "action_text": "First, place red block, then green block beside it, and finally blue block next to green block.", "skill": ""}]}
+{"episode_index": 383, "tasks": ["Place red block first, set green block beside it, and complete the row by positioning blue block."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Place red block first, set green block beside it, and complete the row by positioning blue block.", "skill": ""}]}
+{"episode_index": 384, "tasks": ["With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 452, "action_text": "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", "skill": ""}]}
+{"episode_index": 385, "tasks": ["First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", "skill": ""}]}
+{"episode_index": 386, "tasks": ["Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right."], "length": 468, "action_config": [{"start_frame": 0, "end_frame": 468, "action_text": "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", "skill": ""}]}
+{"episode_index": 387, "tasks": ["Start with red block, followed by green block and blue block, placing them in order left to right."], "length": 449, "action_config": [{"start_frame": 0, "end_frame": 449, "action_text": "Start with red block, followed by green block and blue block, placing them in order left to right.", "skill": ""}]}
+{"episode_index": 388, "tasks": ["Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", "skill": ""}]}
+{"episode_index": 389, "tasks": ["Grab and place red block first, followed by green block, and finish with blue block in a row."], "length": 462, "action_config": [{"start_frame": 0, "end_frame": 462, "action_text": "Grab and place red block first, followed by green block, and finish with blue block in a row.", "skill": ""}]}
+{"episode_index": 390, "tasks": ["Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", "skill": ""}]}
+{"episode_index": 391, "tasks": ["Place red block first, set green block beside it, and complete the row by positioning blue block."], "length": 471, "action_config": [{"start_frame": 0, "end_frame": 471, "action_text": "Place red block first, set green block beside it, and complete the row by positioning blue block.", "skill": ""}]}
+{"episode_index": 392, "tasks": ["Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right."], "length": 449, "action_config": [{"start_frame": 0, "end_frame": 449, "action_text": "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", "skill": ""}]}
+{"episode_index": 393, "tasks": ["Start with red block on the left, add green block next to it, and then place blue block on the right."], "length": 468, "action_config": [{"start_frame": 0, "end_frame": 468, "action_text": "Start with red block on the left, add green block next to it, and then place blue block on the right.", "skill": ""}]}
+{"episode_index": 394, "tasks": ["Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", "skill": ""}]}
+{"episode_index": 395, "tasks": ["Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue."], "length": 469, "action_config": [{"start_frame": 0, "end_frame": 469, "action_text": "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 396, "tasks": ["With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row."], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 456, "action_text": "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", "skill": ""}]}
+{"episode_index": 397, "tasks": ["Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm."], "length": 449, "action_config": [{"start_frame": 0, "end_frame": 449, "action_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", "skill": ""}]}
+{"episode_index": 398, "tasks": ["Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm."], "length": 462, "action_config": [{"start_frame": 0, "end_frame": 462, "action_text": "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", "skill": ""}]}
+{"episode_index": 399, "tasks": ["Position red block first, green block second, and blue block third in a row from left to right."], "length": 454, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "Position red block first, green block second, and blue block third in a row from left to right.", "skill": ""}]}
+{"episode_index": 400, "tasks": ["Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block."], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 456, "action_text": "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 401, "tasks": ["Position red block first, followed by green block, and end with blue block in a row from left to right."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Position red block first, followed by green block, and end with blue block in a row from left to right.", "skill": ""}]}
+{"episode_index": 402, "tasks": ["Start with red block on the left, add green block next to it, and then place blue block on the right."], "length": 449, "action_config": [{"start_frame": 0, "end_frame": 449, "action_text": "Start with red block on the left, add green block next to it, and then place blue block on the right.", "skill": ""}]}
+{"episode_index": 403, "tasks": ["Place red block to the left, green block in the middle, and blue block on the right in a linear fashion."], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 452, "action_text": "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", "skill": ""}]}
+{"episode_index": 404, "tasks": ["Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block."], "length": 477, "action_config": [{"start_frame": 0, "end_frame": 477, "action_text": "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 405, "tasks": ["Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", "skill": ""}]}
+{"episode_index": 406, "tasks": ["Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", "skill": ""}]}
+{"episode_index": 407, "tasks": ["Place red block to the left, green block in the middle, and blue block on the right in a linear fashion."], "length": 449, "action_config": [{"start_frame": 0, "end_frame": 449, "action_text": "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", "skill": ""}]}
+{"episode_index": 408, "tasks": ["With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", "skill": ""}]}
+{"episode_index": 409, "tasks": ["Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block."], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", "skill": ""}]}
+{"episode_index": 410, "tasks": ["Start with red block on the left, add green block next to it, and then place blue block on the right."], "length": 444, "action_config": [{"start_frame": 0, "end_frame": 444, "action_text": "Start with red block on the left, add green block next to it, and then place blue block on the right.", "skill": ""}]}
+{"episode_index": 411, "tasks": ["Begin by placing red block on the left, then add green block to the right, and finish with blue block."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", "skill": ""}]}
+{"episode_index": 412, "tasks": ["Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", "skill": ""}]}
+{"episode_index": 413, "tasks": ["Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block."], "length": 437, "action_config": [{"start_frame": 0, "end_frame": 437, "action_text": "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", "skill": ""}]}
+{"episode_index": 414, "tasks": ["Place red block first, set green block beside it, and complete the row by positioning blue block."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Place red block first, set green block beside it, and complete the row by positioning blue block.", "skill": ""}]}
+{"episode_index": 415, "tasks": ["Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", "skill": ""}]}
+{"episode_index": 416, "tasks": ["Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", "skill": ""}]}
+{"episode_index": 417, "tasks": ["Position red block, green block, and blue block from left to right in the specified sequence."], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "Position red block, green block, and blue block from left to right in the specified sequence.", "skill": ""}]}
+{"episode_index": 418, "tasks": ["First, place red block on the far left, then green block in the middle, and finish with blue block on the right."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", "skill": ""}]}
+{"episode_index": 419, "tasks": ["First, place red block, then green block beside it, and finally blue block next to green block."], "length": 439, "action_config": [{"start_frame": 0, "end_frame": 439, "action_text": "First, place red block, then green block beside it, and finally blue block next to green block.", "skill": ""}]}
+{"episode_index": 420, "tasks": ["Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block."], "length": 449, "action_config": [{"start_frame": 0, "end_frame": 449, "action_text": "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", "skill": ""}]}
+{"episode_index": 421, "tasks": ["First, place red block on the far left, then green block in the middle, and finish with blue block on the right."], "length": 471, "action_config": [{"start_frame": 0, "end_frame": 471, "action_text": "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", "skill": ""}]}
+{"episode_index": 422, "tasks": ["Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order."], "length": 446, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", "skill": ""}]}
+{"episode_index": 423, "tasks": ["Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."], "length": 469, "action_config": [{"start_frame": 0, "end_frame": 469, "action_text": "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", "skill": ""}]}
+{"episode_index": 424, "tasks": ["Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right."], "length": 472, "action_config": [{"start_frame": 0, "end_frame": 472, "action_text": "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", "skill": ""}]}
+{"episode_index": 425, "tasks": ["Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue."], "length": 474, "action_config": [{"start_frame": 0, "end_frame": 474, "action_text": "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 426, "tasks": ["Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."], "length": 453, "action_config": [{"start_frame": 0, "end_frame": 453, "action_text": "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", "skill": ""}]}
+{"episode_index": 427, "tasks": ["Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", "skill": ""}]}
+{"episode_index": 428, "tasks": ["Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", "skill": ""}]}
+{"episode_index": 429, "tasks": ["Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", "skill": ""}]}
+{"episode_index": 430, "tasks": ["Place red block to the left, green block in the middle, and blue block on the right in a linear fashion."], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", "skill": ""}]}
+{"episode_index": 431, "tasks": ["First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block."], "length": 437, "action_config": [{"start_frame": 0, "end_frame": 437, "action_text": "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", "skill": ""}]}
+{"episode_index": 432, "tasks": ["First, place red block on the far left, then green block in the middle, and finish with blue block on the right."], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 456, "action_text": "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", "skill": ""}]}
+{"episode_index": 433, "tasks": ["With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row."], "length": 468, "action_config": [{"start_frame": 0, "end_frame": 468, "action_text": "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", "skill": ""}]}
+{"episode_index": 434, "tasks": ["Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", "skill": ""}]}
+{"episode_index": 435, "tasks": ["Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block."], "length": 478, "action_config": [{"start_frame": 0, "end_frame": 478, "action_text": "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", "skill": ""}]}
+{"episode_index": 436, "tasks": ["Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block."], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 452, "action_text": "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", "skill": ""}]}
+{"episode_index": 437, "tasks": ["First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block."], "length": 453, "action_config": [{"start_frame": 0, "end_frame": 453, "action_text": "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", "skill": ""}]}
+{"episode_index": 438, "tasks": ["Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue."], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 470, "action_text": "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 439, "tasks": ["Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right."], "length": 446, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", "skill": ""}]}
+{"episode_index": 440, "tasks": ["Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", "skill": ""}]}
+{"episode_index": 441, "tasks": ["Start with red block on the left, followed by green block next to red block, and end with blue block on the far right."], "length": 439, "action_config": [{"start_frame": 0, "end_frame": 439, "action_text": "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", "skill": ""}]}
+{"episode_index": 442, "tasks": ["Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right."], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 456, "action_text": "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", "skill": ""}]}
+{"episode_index": 443, "tasks": ["With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."], "length": 477, "action_config": [{"start_frame": 0, "end_frame": 477, "action_text": "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", "skill": ""}]}
+{"episode_index": 444, "tasks": ["Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", "skill": ""}]}
+{"episode_index": 445, "tasks": ["Start with red block, followed by green block and blue block, placing them in order left to right."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Start with red block, followed by green block and blue block, placing them in order left to right.", "skill": ""}]}
+{"episode_index": 446, "tasks": ["Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", "skill": ""}]}
+{"episode_index": 447, "tasks": ["Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", "skill": ""}]}
+{"episode_index": 448, "tasks": ["Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last."], "length": 433, "action_config": [{"start_frame": 0, "end_frame": 433, "action_text": "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", "skill": ""}]}
+{"episode_index": 449, "tasks": ["Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block."], "length": 477, "action_config": [{"start_frame": 0, "end_frame": 477, "action_text": "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 450, "tasks": ["First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", "skill": ""}]}
+{"episode_index": 451, "tasks": ["Place red block first on the far left, green block next to it, and blue block last on the far right."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Place red block first on the far left, green block next to it, and blue block last on the far right.", "skill": ""}]}
+{"episode_index": 452, "tasks": ["Position red block, green block, and blue block on a surface from left to right in the order red, green, blue."], "length": 448, "action_config": [{"start_frame": 0, "end_frame": 448, "action_text": "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 453, "tasks": ["Position red block, green block, and blue block on a surface from left to right in the order red, green, blue."], "length": 462, "action_config": [{"start_frame": 0, "end_frame": 462, "action_text": "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 454, "tasks": ["Position red block, green block, and blue block in a left-to-right sequence, forming a row."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", "skill": ""}]}
+{"episode_index": 455, "tasks": ["Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last."], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 452, "action_text": "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", "skill": ""}]}
+{"episode_index": 456, "tasks": ["Position red block, green block, and blue block in a left-to-right sequence, forming a row."], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", "skill": ""}]}
+{"episode_index": 457, "tasks": ["Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right."], "length": 446, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", "skill": ""}]}
+{"episode_index": 458, "tasks": ["Position red block first, followed by green block, and end with blue block in a row from left to right."], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 452, "action_text": "Position red block first, followed by green block, and end with blue block in a row from left to right.", "skill": ""}]}
+{"episode_index": 459, "tasks": ["Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right."], "length": 471, "action_config": [{"start_frame": 0, "end_frame": 471, "action_text": "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", "skill": ""}]}
+{"episode_index": 460, "tasks": ["Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", "skill": ""}]}
+{"episode_index": 461, "tasks": ["Place red block to the left, green block in the middle, and blue block on the right in a linear fashion."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", "skill": ""}]}
+{"episode_index": 462, "tasks": ["Place red block first on the far left, green block next to it, and blue block last on the far right."], "length": 469, "action_config": [{"start_frame": 0, "end_frame": 469, "action_text": "Place red block first on the far left, green block next to it, and blue block last on the far right.", "skill": ""}]}
+{"episode_index": 463, "tasks": ["Position red block, green block, and blue block on a surface from left to right in the order red, green, blue."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 464, "tasks": ["Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", "skill": ""}]}
+{"episode_index": 465, "tasks": ["Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue."], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", "skill": ""}]}
+{"episode_index": 466, "tasks": ["Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", "skill": ""}]}
+{"episode_index": 467, "tasks": ["Start with red block on the left, followed by green block next to red block, and end with blue block on the far right."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", "skill": ""}]}
+{"episode_index": 468, "tasks": ["Begin by placing red block on the left, then add green block to the right, and finish with blue block."], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 456, "action_text": "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", "skill": ""}]}
+{"episode_index": 469, "tasks": ["Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row."], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 470, "action_text": "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", "skill": ""}]}
+{"episode_index": 470, "tasks": ["Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", "skill": ""}]}
+{"episode_index": 471, "tasks": ["Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions."], "length": 446, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", "skill": ""}]}
+{"episode_index": 472, "tasks": ["Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", "skill": ""}]}
+{"episode_index": 473, "tasks": ["Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions."], "length": 457, "action_config": [{"start_frame": 0, "end_frame": 457, "action_text": "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", "skill": ""}]}
+{"episode_index": 474, "tasks": ["Place red block first on the far left, green block next to it, and blue block last on the far right."], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 452, "action_text": "Place red block first on the far left, green block next to it, and blue block last on the far right.", "skill": ""}]}
+{"episode_index": 475, "tasks": ["With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", "skill": ""}]}
+{"episode_index": 476, "tasks": ["First, place red block, then green block beside it, and finally blue block next to green block."], "length": 432, "action_config": [{"start_frame": 0, "end_frame": 432, "action_text": "First, place red block, then green block beside it, and finally blue block next to green block.", "skill": ""}]}
+{"episode_index": 477, "tasks": ["Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 478, "tasks": ["Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", "skill": ""}]}
+{"episode_index": 479, "tasks": ["Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", "skill": ""}]}
+{"episode_index": 480, "tasks": ["Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 481, "tasks": ["Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block."], "length": 457, "action_config": [{"start_frame": 0, "end_frame": 457, "action_text": "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", "skill": ""}]}
+{"episode_index": 482, "tasks": ["First, place red block on the far left, then green block in the middle, and finish with blue block on the right."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", "skill": ""}]}
+{"episode_index": 483, "tasks": ["Pick up red block, green block, and blue block in sequence and position them in a left-to-right row."], "length": 444, "action_config": [{"start_frame": 0, "end_frame": 444, "action_text": "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", "skill": ""}]}
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+{"episode_index": 486, "tasks": ["Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", "skill": ""}]}
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+{"episode_index": 489, "tasks": ["Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", "skill": ""}]}
+{"episode_index": 490, "tasks": ["Position red block, green block, and blue block from left to right in the specified sequence."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Position red block, green block, and blue block from left to right in the specified sequence.", "skill": ""}]}
+{"episode_index": 491, "tasks": ["Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", "skill": ""}]}
+{"episode_index": 492, "tasks": ["Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block."], "length": 435, "action_config": [{"start_frame": 0, "end_frame": 435, "action_text": "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", "skill": ""}]}
+{"episode_index": 493, "tasks": ["Place red block first, set green block beside it, and complete the row by positioning blue block."], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 452, "action_text": "Place red block first, set green block beside it, and complete the row by positioning blue block.", "skill": ""}]}
+{"episode_index": 494, "tasks": ["Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", "skill": ""}]}
+{"episode_index": 495, "tasks": ["Place red block first on the far left, green block next to it, and blue block last on the far right."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Place red block first on the far left, green block next to it, and blue block last on the far right.", "skill": ""}]}
+{"episode_index": 496, "tasks": ["Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row."], "length": 462, "action_config": [{"start_frame": 0, "end_frame": 462, "action_text": "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", "skill": ""}]}
+{"episode_index": 497, "tasks": ["Position red block first, green block second, and blue block third in a row from left to right."], "length": 462, "action_config": [{"start_frame": 0, "end_frame": 462, "action_text": "Position red block first, green block second, and blue block third in a row from left to right.", "skill": ""}]}
+{"episode_index": 498, "tasks": ["Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block."], "length": 445, "action_config": [{"start_frame": 0, "end_frame": 445, "action_text": "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", "skill": ""}]}
+{"episode_index": 499, "tasks": ["Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", "skill": ""}]}
diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/episodes_ori.jsonl b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/episodes_ori.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..67f9945a9b28b8c9ee3f8907afba29279ed5eb2f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/episodes_ori.jsonl
@@ -0,0 +1,500 @@
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/episodes_stats.jsonl b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3be7943e01895a9a6cb843f4844302990c9a30b7
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/episodes_stats.jsonl
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/info.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..078fefc76f7507c5aad9edb2b5c5e534b2f24d79
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/info.json
@@ -0,0 +1,174 @@
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+        "observation.images.cam_right_wrist": {
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+}
diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/source_schema.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/source_schema.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef4c72658d45415ffce97d9cf74fcbbdf6e3e97f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/source_schema.json
@@ -0,0 +1,47 @@
+{
+    "source_name": "robotwin",
+    "source_suffix": "robotwin_collect_raw_v1",
+    "robot_type": "aloha",
+    "camera_keys": [
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+        "observation.images.cam_main",
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+    ],
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+        "left_gripper",
+        "right_x",
+        "right_y",
+        "right_z",
+        "right_qw",
+        "right_qx",
+        "right_qy",
+        "right_qz",
+        "right_gripper"
+    ],
+    "action_names": [
+        "left_x",
+        "left_y",
+        "left_z",
+        "left_qw",
+        "left_qx",
+        "left_qy",
+        "left_qz",
+        "left_gripper",
+        "right_x",
+        "right_y",
+        "right_z",
+        "right_qw",
+        "right_qx",
+        "right_qy",
+        "right_qz",
+        "right_gripper"
+    ],
+    "fps": 16.666682561253765
+}
diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/stats.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc8442c7701b8423c15caaf6496583280cbf6ab3
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/stats.json
@@ -0,0 +1,343 @@
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/tasks.jsonl b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..718d5d29851e0367c9464a411fb311cb59dfd5a5
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/tasks.jsonl
@@ -0,0 +1,137 @@
+{"task_index": 0, "task": "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue."}
+{"task_index": 1, "task": "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last."}
+{"task_index": 2, "task": "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right."}
+{"task_index": 3, "task": "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block."}
+{"task_index": 4, "task": "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue."}
+{"task_index": 5, "task": "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row."}
+{"task_index": 6, "task": "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right."}
+{"task_index": 7, "task": "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row."}
+{"task_index": 8, "task": "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block."}
+{"task_index": 9, "task": "Line up the objects in the order red block, green block, and blue block, starting from the left."}
+{"task_index": 10, "task": "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right."}
+{"task_index": 11, "task": "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block."}
+{"task_index": 12, "task": "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue."}
+{"task_index": 13, "task": "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm."}
+{"task_index": 14, "task": "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block."}
+{"task_index": 15, "task": "Position red block first, followed by green block, and end with blue block in a row from left to right."}
+{"task_index": 16, "task": "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue."}
+{"task_index": 17, "task": "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm."}
+{"task_index": 18, "task": "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block."}
+{"task_index": 19, "task": "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row."}
+{"task_index": 20, "task": "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row."}
+{"task_index": 21, "task": "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row."}
+{"task_index": 22, "task": "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order."}
+{"task_index": 23, "task": "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right."}
+{"task_index": 24, "task": "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."}
+{"task_index": 25, "task": "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."}
+{"task_index": 26, "task": "Start with red block, followed by green block and blue block, placing them in order left to right."}
+{"task_index": 27, "task": "Place red block first on the far left, green block next to it, and blue block last on the far right."}
+{"task_index": 28, "task": "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."}
+{"task_index": 29, "task": "First, place red block, then green block beside it, and finally blue block next to green block."}
+{"task_index": 30, "task": "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm."}
+{"task_index": 31, "task": "Place red block first, set green block beside it, and complete the row by positioning blue block."}
+{"task_index": 32, "task": "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block."}
+{"task_index": 33, "task": "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right."}
+{"task_index": 34, "task": "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right."}
+{"task_index": 35, "task": "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm."}
+{"task_index": 36, "task": "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block."}
+{"task_index": 37, "task": "Position red block, green block, and blue block in a left-to-right sequence, forming a row."}
+{"task_index": 38, "task": "Start with red block on the left, add green block next to it, and then place blue block on the right."}
+{"task_index": 39, "task": "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order."}
+{"task_index": 40, "task": "Using the left arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order."}
+{"task_index": 41, "task": "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions."}
+{"task_index": 42, "task": "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right."}
+{"task_index": 43, "task": "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."}
+{"task_index": 44, "task": "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion."}
+{"task_index": 45, "task": "Position red block first, green block second, and blue block third in a row from left to right."}
+{"task_index": 46, "task": "First, place red block on the far left, then green block in the middle, and finish with blue block on the right."}
+{"task_index": 47, "task": "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block."}
+{"task_index": 48, "task": "Grab and place red block first, followed by green block, and finish with blue block in a row."}
+{"task_index": 49, "task": "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right."}
+{"task_index": 50, "task": "Using the left arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."}
+{"task_index": 51, "task": "Position red block, green block, and blue block from left to right in the specified sequence."}
+{"task_index": 52, "task": "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block."}
+{"task_index": 53, "task": "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."}
+{"task_index": 54, "task": "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row."}
+{"task_index": 55, "task": "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row."}
+{"task_index": 56, "task": "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block."}
+{"task_index": 57, "task": "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right."}
+{"task_index": 58, "task": "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block."}
+{"task_index": 59, "task": "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block."}
+{"task_index": 60, "task": "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."}
+{"task_index": 61, "task": "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right."}
+{"task_index": 62, "task": "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."}
+{"task_index": 63, "task": "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right."}
+{"task_index": 64, "task": "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order."}
+{"task_index": 65, "task": "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block."}
+{"task_index": 66, "task": "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block."}
+{"task_index": 67, "task": "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order."}
+{"task_index": 68, "task": "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm."}
+{"task_index": 69, "task": "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right."}
+{"task_index": 70, "task": "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row."}
+{"task_index": 71, "task": "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."}
+{"task_index": 72, "task": "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block."}
+{"task_index": 73, "task": "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order."}
+{"task_index": 74, "task": "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block."}
+{"task_index": 75, "task": "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."}
+{"task_index": 76, "task": "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right."}
+{"task_index": 77, "task": "Begin by placing red block on the left, then add green block to the right, and finish with blue block."}
+{"task_index": 78, "task": "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block."}
+{"task_index": 79, "task": "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block."}
+{"task_index": 80, "task": "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block."}
+{"task_index": 81, "task": "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."}
+{"task_index": 82, "task": "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block."}
+{"task_index": 83, "task": "red block, then green block, and finally blue block should be placed in a row from left to right."}
+{"task_index": 84, "task": "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block."}
+{"task_index": 85, "task": "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm."}
+{"task_index": 86, "task": "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm."}
+{"task_index": 87, "task": "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block."}
+{"task_index": 88, "task": "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block."}
+{"task_index": 89, "task": "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right."}
+{"task_index": 90, "task": "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right."}
+{"task_index": 91, "task": "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block."}
+{"task_index": 92, "task": "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block."}
+{"task_index": 93, "task": "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order."}
+{"task_index": 94, "task": "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the right arm."}
+{"task_index": 95, "task": "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm."}
+{"task_index": 96, "task": "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row."}
+{"task_index": 97, "task": "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block."}
+{"task_index": 98, "task": "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue."}
+{"task_index": 99, "task": "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block."}
+{"task_index": 100, "task": "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block."}
+{"task_index": 101, "task": "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block."}
+{"task_index": 102, "task": "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue."}
+{"task_index": 103, "task": "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block."}
+{"task_index": 104, "task": "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right."}
+{"task_index": 105, "task": "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order."}
+{"task_index": 106, "task": "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."}
+{"task_index": 107, "task": "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm."}
+{"task_index": 108, "task": "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block."}
+{"task_index": 109, "task": "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row."}
+{"task_index": 110, "task": "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue."}
+{"task_index": 111, "task": "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row."}
+{"task_index": 112, "task": "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm."}
+{"task_index": 113, "task": "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row."}
+{"task_index": 114, "task": "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block."}
+{"task_index": 115, "task": "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block."}
+{"task_index": 116, "task": "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block."}
+{"task_index": 117, "task": "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block."}
+{"task_index": 118, "task": "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right."}
+{"task_index": 119, "task": "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block."}
+{"task_index": 120, "task": "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm."}
+{"task_index": 121, "task": "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block."}
+{"task_index": 122, "task": "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row."}
+{"task_index": 123, "task": "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block."}
+{"task_index": 124, "task": "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right."}
+{"task_index": 125, "task": "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue."}
+{"task_index": 126, "task": "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block."}
+{"task_index": 127, "task": "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block."}
+{"task_index": 128, "task": "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right."}
+{"task_index": 129, "task": "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block."}
+{"task_index": 130, "task": "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block."}
+{"task_index": 131, "task": "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right."}
+{"task_index": 132, "task": "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm."}
+{"task_index": 133, "task": "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order."}
+{"task_index": 134, "task": "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue."}
+{"task_index": 135, "task": "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block."}
+{"task_index": 136, "task": "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right."}
diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/text_instruction_backup/episodes.jsonl b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/text_instruction_backup/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f379f5a1622fff8646fdcd6637bc41cb8ba62494
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/text_instruction_backup/episodes.jsonl
@@ -0,0 +1,500 @@
+{"episode_index": 0, "tasks": ["blocks ranking rgb"], "length": 447, "action_config": [{"start_frame": 0, "end_frame": 447, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 1, "tasks": ["blocks ranking rgb"], "length": 442, "action_config": [{"start_frame": 0, "end_frame": 442, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 2, "tasks": ["blocks ranking rgb"], "length": 445, "action_config": [{"start_frame": 0, "end_frame": 445, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 3, "tasks": ["blocks ranking rgb"], "length": 447, "action_config": [{"start_frame": 0, "end_frame": 447, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 4, "tasks": ["blocks ranking rgb"], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 5, "tasks": ["blocks ranking rgb"], "length": 440, "action_config": [{"start_frame": 0, "end_frame": 440, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 6, "tasks": ["blocks ranking rgb"], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 456, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 7, "tasks": ["blocks ranking rgb"], "length": 454, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 8, "tasks": ["blocks ranking rgb"], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 9, "tasks": ["blocks ranking rgb"], "length": 474, "action_config": [{"start_frame": 0, "end_frame": 474, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 10, "tasks": ["blocks ranking rgb"], "length": 478, "action_config": [{"start_frame": 0, "end_frame": 478, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 11, "tasks": ["blocks ranking rgb"], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 12, "tasks": ["blocks ranking rgb"], "length": 454, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 13, "tasks": ["blocks ranking rgb"], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 14, "tasks": ["blocks ranking rgb"], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 15, "tasks": ["blocks ranking rgb"], "length": 446, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 16, "tasks": ["blocks ranking rgb"], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 17, "tasks": ["blocks ranking rgb"], "length": 471, "action_config": [{"start_frame": 0, "end_frame": 471, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 18, "tasks": ["blocks ranking rgb"], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 456, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 19, "tasks": ["blocks ranking rgb"], "length": 445, "action_config": [{"start_frame": 0, "end_frame": 445, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 20, "tasks": ["blocks ranking rgb"], "length": 468, "action_config": [{"start_frame": 0, "end_frame": 468, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 21, "tasks": ["blocks ranking rgb"], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 22, "tasks": ["blocks ranking rgb"], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 452, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 23, "tasks": ["blocks ranking rgb"], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 470, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 24, "tasks": ["blocks ranking rgb"], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 25, "tasks": ["blocks ranking rgb"], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 26, "tasks": ["blocks ranking rgb"], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 467, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 27, "tasks": ["blocks ranking rgb"], "length": 473, "action_config": [{"start_frame": 0, "end_frame": 473, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 28, "tasks": ["blocks ranking rgb"], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 29, "tasks": ["blocks ranking rgb"], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 30, "tasks": ["blocks ranking rgb"], "length": 453, "action_config": [{"start_frame": 0, "end_frame": 453, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 31, "tasks": ["blocks ranking rgb"], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 32, "tasks": ["blocks ranking rgb"], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 33, "tasks": ["blocks ranking rgb"], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 34, "tasks": ["blocks ranking rgb"], "length": 443, "action_config": [{"start_frame": 0, "end_frame": 443, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 35, "tasks": ["blocks ranking rgb"], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 36, "tasks": ["blocks ranking rgb"], "length": 443, "action_config": [{"start_frame": 0, "end_frame": 443, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 37, "tasks": ["blocks ranking rgb"], "length": 462, "action_config": [{"start_frame": 0, "end_frame": 462, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 38, "tasks": ["blocks ranking rgb"], "length": 442, "action_config": [{"start_frame": 0, "end_frame": 442, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 39, "tasks": ["blocks ranking rgb"], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 40, "tasks": ["blocks ranking rgb"], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 41, "tasks": ["blocks ranking rgb"], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 42, "tasks": ["blocks ranking rgb"], "length": 479, "action_config": [{"start_frame": 0, "end_frame": 479, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 43, "tasks": ["blocks ranking rgb"], "length": 435, "action_config": [{"start_frame": 0, "end_frame": 435, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 44, "tasks": ["blocks ranking rgb"], "length": 441, "action_config": [{"start_frame": 0, "end_frame": 441, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 45, "tasks": ["blocks ranking rgb"], "length": 438, "action_config": [{"start_frame": 0, "end_frame": 438, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 46, "tasks": ["blocks ranking rgb"], "length": 495, "action_config": [{"start_frame": 0, "end_frame": 495, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 47, "tasks": ["blocks ranking rgb"], "length": 475, "action_config": [{"start_frame": 0, "end_frame": 475, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 48, "tasks": ["blocks ranking rgb"], "length": 454, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 49, "tasks": ["blocks ranking rgb"], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 50, "tasks": ["blocks ranking rgb"], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 51, "tasks": ["blocks ranking rgb"], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 52, "tasks": ["blocks ranking rgb"], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 452, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 53, "tasks": ["blocks ranking rgb"], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 54, "tasks": ["blocks ranking rgb"], "length": 439, "action_config": [{"start_frame": 0, "end_frame": 439, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 55, "tasks": ["blocks ranking rgb"], "length": 441, "action_config": [{"start_frame": 0, "end_frame": 441, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 56, "tasks": ["blocks ranking rgb"], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 57, "tasks": ["blocks ranking rgb"], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 466, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 58, "tasks": ["blocks ranking rgb"], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 59, "tasks": ["blocks ranking rgb"], "length": 454, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 60, "tasks": ["blocks ranking rgb"], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 61, "tasks": ["blocks ranking rgb"], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 464, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 62, "tasks": ["blocks ranking rgb"], "length": 446, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 63, "tasks": ["blocks ranking rgb"], "length": 437, "action_config": [{"start_frame": 0, "end_frame": 437, "action_text": "blocks ranking rgb", "skill": ""}]}
+{"episode_index": 64, "tasks": ["blocks ranking rgb"], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "blocks ranking rgb", "skill": ""}]}
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/text_instruction_backup/episodes_ori.jsonl b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/text_instruction_backup/episodes_ori.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cf43b9a8e14904fa5e0691cdcd91fe558841634f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/text_instruction_backup/episodes_ori.jsonl
@@ -0,0 +1,500 @@
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/text_instruction_backup/info.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/text_instruction_backup/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8d9bae434858b1cf226a8c5660130077c888e9f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/text_instruction_backup/info.json
@@ -0,0 +1,174 @@
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/text_instruction_backup/tasks.jsonl b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/text_instruction_backup/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5cb19a8163a23abe75699b4bb88d7763fdb9716b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/meta/text_instruction_backup/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "blocks ranking rgb"}
diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000000.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a887e761b9a360efec700a3be8a480da30480e6
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000000.json
@@ -0,0 +1,228 @@
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000001.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..6660255a8f3db360df8264949bb623f23d4acb18
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000001.json
@@ -0,0 +1,227 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000002.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..00c3ea8ee6c89e88c1c11906895a37571f91c4d2
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000002.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000003.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b02f39d2538660f06983f5e8f3a8253a40b089d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000003.json
@@ -0,0 +1,228 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000004.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a0a5d4395f72ba720baf63b35a2faad805c9017
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000004.json
@@ -0,0 +1,231 @@
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000005.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..09642029fe020f9752c6457e670a8df05a8184e1
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000005.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000006.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..b95f7b0f0848beb06735963c9418ce9dd67e8998
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000006.json
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new file mode 100644
index 0000000000000000000000000000000000000000..18f1378c30cea89f07552292f7871f3a73cb2119
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000007.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000008.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..769f9ea98e3bac0c2ebc5449a4bfba59af286d61
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000008.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000009.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..92c4c6af33c345e38d746060559bcfb000aa0813
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000009.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000010.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b31fee67cc7a674cdd76480e15fddfb0e6aff0a
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000010.json
@@ -0,0 +1,236 @@
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000011.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..958d0a3fd493e029f9d955cdc624ab6bba692589
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000011.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000012.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..c04562dec4ba5ab69f5086055c84ef9fb7bdf052
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000013.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..df35db726ec554bf9529977ae0b14645caae0513
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000013.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000014.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2c7d59162c3ea56c9a79704a687926ef58ce562
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000014.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000015.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4ac64682e520dc90726f9537350fb813ff43cec
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000015.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000016.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..d89d31df3f18c19db5a7c0bc0da2240536d87576
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000016.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000017.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..67f63e617601aa1866f43672edd4a00a0826cf58
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000017.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000018.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..941c91c3bffbef2d29675d91ac97965fbba9474b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000018.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000019.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6eed8fe6b27fffabd54f9f232f12c3bafee6f74
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000020.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5654467fcdd0470ebb0284f12232cc85f0852ff
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000020.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000021.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb6dcf21fbc860e03ed3fb575084e3ec9a5517a9
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000021.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000022.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d0645352d5505210d93c7e0085737dd6636a2b1
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000023.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf021bedf048650f71facad2a5cb4248c712173a
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000023.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000024.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..f57c4b455c934dd69173ee0d7bf560122c825791
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000024.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000025.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..777fe614e3ebec47566cbe80ca6621635609418b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000025.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000026.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..650957c198e4be26f9b06ab6ace6ea3667fe5c98
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000026.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000027.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..69f56b70854639c2a4ef0d484847e9d4066730a5
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000027.json
@@ -0,0 +1,235 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000028.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7282bab03c6a1b39588254bb35eddeaf5171579
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000028.json
@@ -0,0 +1,232 @@
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000029.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..12ecb605a2b55ad756b879baaba672909eb50dc7
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000029.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000030.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..50f88c2279693357b3835e4e36899ce11a6efa28
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000030.json
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new file mode 100644
index 0000000000000000000000000000000000000000..ca0189c50720cfd64ee33334a2aa602128a9dcd4
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000031.json
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new file mode 100644
index 0000000000000000000000000000000000000000..6ca3b3309549456570517a93f3c3d204773388f7
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000032.json
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new file mode 100644
index 0000000000000000000000000000000000000000..1af0c8b5bd7a8f00bbe780541dce95ac675902b4
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000034.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..6143ce1e39e5428bd1c147813a68121c35bb35f6
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000034.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000035.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ff427724c8e8f57023088a6ebf405b8980a6203
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000035.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000036.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a6cbf03be91288138ace5e5bb69441bbafcd7b1
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000036.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000037.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..31ecf5f6de953cf9f70e0349b42f2554f47896e1
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000037.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000038.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000038.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b31454ce1374add69f595ecf6bf6a54063a4ae8
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000038.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000039.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000039.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e786a73849506e5737047f9e83f5461821ae04d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000039.json
@@ -0,0 +1,231 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000040.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000040.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1722ea72b89228ed93898659ff3b79baddc6803
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000040.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000041.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000041.json
new file mode 100644
index 0000000000000000000000000000000000000000..b38cc0ccf8814331a3fdf96bea6053b74159cfa2
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000041.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000042.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000042.json
new file mode 100644
index 0000000000000000000000000000000000000000..40ac58abd1a70836430a1bbad57dd2d7d313be44
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000042.json
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new file mode 100644
index 0000000000000000000000000000000000000000..fec4955c4551c79cc771c4f1a91a65dab8192a96
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000044.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000044.json
new file mode 100644
index 0000000000000000000000000000000000000000..ece2528562f3b6247f2005662cf682812bc80098
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000045.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000045.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d9dddf30e59cd13ad5589714ddc72b69e4ed37a
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000046.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000046.json
new file mode 100644
index 0000000000000000000000000000000000000000..402c0cbb698c8086c6f59255572f6744d859f407
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000046.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000047.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000047.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ad0d3ff9aae7e75861b1f8189bf7ac3aeb4fb4a
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000047.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000048.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000048.json
new file mode 100644
index 0000000000000000000000000000000000000000..06f119a080d11a6f834b78f7c6bf717c8ddf60d9
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000048.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000049.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000049.json
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index 0000000000000000000000000000000000000000..0bbbaca7c30798ec2cf1b2c889fdd7f763e611ca
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+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000049.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000050.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000050.json
new file mode 100644
index 0000000000000000000000000000000000000000..09877c988829ffd246ae1c563adce55c586d2586
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000050.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000051.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000051.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7be367b31c6c6a7ee59bba14f5ecc3823106e5e
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000051.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000052.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000052.json
new file mode 100644
index 0000000000000000000000000000000000000000..67cd412ac69eeef72e6f0e0d578e01fc5efa358f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000052.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000053.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000053.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4c16bab3ee1e5cafafff3744792ea6a8b24e5f8
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000053.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000054.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000054.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c740185328ca5c1022daa2ab346aa7d52678dc1
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000054.json
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new file mode 100644
index 0000000000000000000000000000000000000000..b3c6a38a4b7e3847e6c36a7b0550ff0890243e29
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..58804f427c6d8b83461108017c872245fa754d49
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000058.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000058.json
new file mode 100644
index 0000000000000000000000000000000000000000..27c681b0347010f0142f654caf857d3f0a09f191
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000058.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000059.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000059.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba977598a3559216296b68810f9d5b917fffbf53
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000059.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000060.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000060.json
new file mode 100644
index 0000000000000000000000000000000000000000..093e1736fb734b07be9ea0d449b33f06a8ec46ee
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000061.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000061.json
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index 0000000000000000000000000000000000000000..7d2dadf2a7048046a8776b984609dedce72fc88d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000061.json
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new file mode 100644
index 0000000000000000000000000000000000000000..f37149808c462704ab6e77766d2bb09ae0434271
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..22ca42a655b735c78548e477f76a576747479845
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000063.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000064.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000064.json
new file mode 100644
index 0000000000000000000000000000000000000000..69947d42d45fd64fe65be9ece1df7dee0055ac23
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000064.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000065.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000065.json
new file mode 100644
index 0000000000000000000000000000000000000000..76fe00de5b430c670fb427919408c784eaaa1ed1
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000065.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000066.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000066.json
new file mode 100644
index 0000000000000000000000000000000000000000..89634f692286c97250c60ea65610bc6de0478c99
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000066.json
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new file mode 100644
index 0000000000000000000000000000000000000000..9e9ac4150da036b0768d2d72db1b23138aca67b0
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..c9ca571ce2fec76c395118882519fd00c130bb5f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000068.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000070.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000070.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f39ae1929c1bb67debc5b792124c3f420a8b87c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000070.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000071.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000071.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cb49b7c4a5dd0b253ec3b7de3e6e36741d803d6
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000071.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000072.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000072.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cb7fc6b8cfb9f032a25d7896b03630bee80c70c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000072.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000073.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000073.json
new file mode 100644
index 0000000000000000000000000000000000000000..84b12856d9b7e5876addf52a07c24a385a6c3e1f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000073.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000074.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000074.json
new file mode 100644
index 0000000000000000000000000000000000000000..b82d4cb9ba8d831b5d37617050cb958ec4d51abb
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000074.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000075.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000075.json
new file mode 100644
index 0000000000000000000000000000000000000000..9226203a6af4cf07e215f3c3c9d92031fe7dba5c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000075.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000076.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000076.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1205041d4c458cdbe6c2833154b0738bb8205fe
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000076.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000077.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000077.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6a237248eaf29aa23a8f0fc02b5b797c251ef49
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000077.json
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new file mode 100644
index 0000000000000000000000000000000000000000..5ad92d02ff49f8e34ef64bf7fea9a6ecd39b06e3
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000078.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000079.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000079.json
new file mode 100644
index 0000000000000000000000000000000000000000..3424aa0400db4c5c489b49b3576014306e33d516
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000079.json
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new file mode 100644
index 0000000000000000000000000000000000000000..66b9a973f3fa61203ee9932c9161f0147627b126
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000080.json
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index 0000000000000000000000000000000000000000..bc862905b9cfa9e3aa02c18bf83a56e3de800aec
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000082.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000082.json
new file mode 100644
index 0000000000000000000000000000000000000000..37231592c5f136ac7f7f99477e6009543dd37ffd
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000082.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000083.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000083.json
new file mode 100644
index 0000000000000000000000000000000000000000..556151e0d8c388eb8f522a5a9024b41a10d65ad6
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000084.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000084.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a632681d336d7dc05b7537c4b33f0718051c096
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000085.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000085.json
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index 0000000000000000000000000000000000000000..4280309ed15f2656c9ba8b88d136dba566307160
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+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000085.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000086.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000086.json
new file mode 100644
index 0000000000000000000000000000000000000000..50acdddf924ee4684f6ba0afa84ee4958f49801f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000086.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000087.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000087.json
new file mode 100644
index 0000000000000000000000000000000000000000..217f69e2c39f14aae6475dcd94dea1633e612e05
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000087.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000088.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000088.json
new file mode 100644
index 0000000000000000000000000000000000000000..cee0c353e608f4e14d7d73361937e4e757147ac6
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000088.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000089.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000089.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa94544b76dcb6a1e542a5d903fe8379032309dc
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000089.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000090.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000090.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcd48ed3f9c44d8f05fb1097955ff40bd58f8888
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000090.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000091.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000091.json
new file mode 100644
index 0000000000000000000000000000000000000000..9646cd8d901c791ac30ad47215d5e52679ef1d99
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000091.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000092.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000092.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fada58943e4e3ca235bab06722232f5a4f22ca0
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000092.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000093.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000093.json
new file mode 100644
index 0000000000000000000000000000000000000000..23a76bad105ce96af087a4a2efaba15a4309d5de
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000093.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000094.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000094.json
new file mode 100644
index 0000000000000000000000000000000000000000..be1da183b7a9f690640503704a0a98c7d191f7d6
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000094.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000095.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000095.json
new file mode 100644
index 0000000000000000000000000000000000000000..e505f1138c3c98354d3fa3711586c9184a3485a7
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000095.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000096.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000096.json
new file mode 100644
index 0000000000000000000000000000000000000000..183989dd92216dce6149a21ceb478bd4713c29fa
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000097.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000097.json
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index 0000000000000000000000000000000000000000..12f981f2d508d567ae0985b521eedbd27d2bfdac
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+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000097.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000098.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000098.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0b678a11564ae95d5c1f1facffbbc12db072a37
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000099.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000099.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e7fb81088c0b7f06b29a825bbd2c2ee9f83e458
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000099.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000100.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000100.json
new file mode 100644
index 0000000000000000000000000000000000000000..94fa9c2084543d24a4d4255f71dcdaa3b399ad12
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000100.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000101.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000101.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ea937b0a8d2fbff1e70b1db4795e1bd153ef2e7
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000101.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000102.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000102.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec31973f5d2605d1a3a91b80db2f720ecfcf06a9
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000102.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000103.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000103.json
new file mode 100644
index 0000000000000000000000000000000000000000..5642a1317e68774ffecca274ec83960b93fd2c91
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000103.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000104.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000104.json
new file mode 100644
index 0000000000000000000000000000000000000000..9233db5def393b13648e8dfd8dda55cf8c57dd04
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000104.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000105.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000105.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa78c6ca96005a5e7711ba1b07dc5edfa7612fde
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000105.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000106.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000106.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4f299d83dc8ec9c8199e0742c52d259ed7fbd1a
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000106.json
@@ -0,0 +1,239 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000107.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000107.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d1c1b528c92226eacb4376245021506cc3bec71
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000107.json
@@ -0,0 +1,227 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000108.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000108.json
new file mode 100644
index 0000000000000000000000000000000000000000..4125442a2d2f6d3865af89eb6e98db83e2341586
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000108.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000109.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000109.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ea684899ecb47bab453e587361890c7efcc04ac
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000109.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000110.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000110.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b11f8234c2839df32c25457b20e6746c58d7c08
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000110.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000111.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000111.json
new file mode 100644
index 0000000000000000000000000000000000000000..c01a7542fc1e5427862ff8f611b2ff81a84c3b23
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000111.json
@@ -0,0 +1,230 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000112.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000112.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd96f9f3b7b6f4234625e773a2950edd176d2946
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000112.json
@@ -0,0 +1,234 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000113.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000113.json
new file mode 100644
index 0000000000000000000000000000000000000000..99083c3618b9383189e39b108180ef98d2220aae
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000113.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000114.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000114.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd9120dc4516f1df63608466e5efa67afd25d152
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000114.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000115.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000115.json
new file mode 100644
index 0000000000000000000000000000000000000000..e81533168829c43bebca9aa0a8c01b1fe4c1b4e6
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000116.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000116.json
new file mode 100644
index 0000000000000000000000000000000000000000..782b78fe52d424a212b50b7ca6d0068312b42592
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000116.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000117.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000117.json
new file mode 100644
index 0000000000000000000000000000000000000000..e285a194688afbdfaca171039e97fde61f4d1db1
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000117.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000118.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000118.json
new file mode 100644
index 0000000000000000000000000000000000000000..49cf377361bea8c1bb2b7d6b096afb4a9e29dfb2
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000118.json
@@ -0,0 +1,232 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000119.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000119.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc333cb1a909f56c3a213a96de1610c380e78701
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000119.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000120.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000120.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca159a2494017527d863f19cea5770b7e69b090c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000120.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000121.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000121.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d2b216d9813150fab720e0963471d177667dcc9
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000121.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000122.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000122.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b0595a78cf11642458ee916d6ace98b1b87bf6a
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000123.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000123.json
new file mode 100644
index 0000000000000000000000000000000000000000..7178f1f28b1593fa976a6bc72aa128dd4c236a69
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000123.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000125.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000125.json
new file mode 100644
index 0000000000000000000000000000000000000000..3720a98e168280ad2cb1c37a87b454c55ef1d817
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000125.json
@@ -0,0 +1,230 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000126.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000126.json
new file mode 100644
index 0000000000000000000000000000000000000000..5668544f88bcde30f017fa44bad831e0aa462f1d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000126.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000127.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000127.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d266777c6235b0c64112f304f1b4ae2ebd8823c
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000128.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000128.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2bbbe76f6b2b9d8ac9ceda9c2e82cc721dc4587
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000128.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000129.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000129.json
new file mode 100644
index 0000000000000000000000000000000000000000..d67b23aa20556912f64898fce409d1a3a6fd512c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000129.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000130.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000130.json
new file mode 100644
index 0000000000000000000000000000000000000000..2efb538e9664fa85c74ac6d4f9c188e972a94fb2
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000130.json
@@ -0,0 +1,233 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000131.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000131.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e3692b3fa702d49417bd4588e7727a6923c2a8f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000131.json
@@ -0,0 +1,231 @@
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000132.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000132.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dfc3ee8648a3d88d6829a665f16b8c8f39447ac
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000132.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000133.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000133.json
new file mode 100644
index 0000000000000000000000000000000000000000..26948f7107036083b9a607577dd76b6529650c5c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000133.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000134.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000134.json
new file mode 100644
index 0000000000000000000000000000000000000000..815da32ff2e12222aaf45372caf6e22da8dbce02
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000134.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000135.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000135.json
new file mode 100644
index 0000000000000000000000000000000000000000..adbc81f354bbd3807a8f104212f53d08973176d7
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000135.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000136.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000136.json
new file mode 100644
index 0000000000000000000000000000000000000000..25c8e3247851a004a9e8cd5053603307220d0317
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000136.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000137.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000137.json
new file mode 100644
index 0000000000000000000000000000000000000000..34a3e8c415797a053f30a27fd295fe4b428199ef
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000137.json
@@ -0,0 +1,229 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000138.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000138.json
new file mode 100644
index 0000000000000000000000000000000000000000..49ea34cf71a157e68403e860ca744e3b1601c6a1
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000138.json
@@ -0,0 +1,233 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000139.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000139.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22d33722552b32d7bd56d8121f17e658267ddbc
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000139.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000140.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000140.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8c868474db694100480d45d2e049bfe3304c28c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000140.json
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new file mode 100644
index 0000000000000000000000000000000000000000..f49be78811d2efb3b0dd229bae2d3dbd1babf2f3
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000142.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000142.json
new file mode 100644
index 0000000000000000000000000000000000000000..267b108dfb6b8dda06a3205401bdae66f228d6f6
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000142.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000143.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000143.json
new file mode 100644
index 0000000000000000000000000000000000000000..98b9021b50a2a7d298a1f9de1344ec80e5263d67
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+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000143.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000144.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000144.json
new file mode 100644
index 0000000000000000000000000000000000000000..21f9488b1df3af61f4524fddb0ed80e1ec738911
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000144.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000145.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000145.json
new file mode 100644
index 0000000000000000000000000000000000000000..67a1712164e7c70dbd93531ab3843c345bcc9682
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000145.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000146.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000146.json
new file mode 100644
index 0000000000000000000000000000000000000000..faec4789682f05d47eab8ef5f1bfdb213e55799a
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000146.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000147.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000147.json
new file mode 100644
index 0000000000000000000000000000000000000000..1182a96a94b06abb1787c53f1f3447c73c9d4eba
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000147.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000148.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000148.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e94c2dfb7af0500540ad96c5c8567047f17084a
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000148.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000149.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000149.json
new file mode 100644
index 0000000000000000000000000000000000000000..b22a0dc5523457730941b99555d87952f65841cf
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000149.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000150.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000150.json
new file mode 100644
index 0000000000000000000000000000000000000000..88dd57ad66949870581a2951573436b1f4508f5d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000150.json
@@ -0,0 +1,231 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000151.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000151.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2a2cd6b9d1db25521a8097295cf1c656bca0aee
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000151.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000152.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000152.json
new file mode 100644
index 0000000000000000000000000000000000000000..e357ba7971ae0e90423881ca0093158d2fde7971
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000152.json
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new file mode 100644
index 0000000000000000000000000000000000000000..e322a5c8acc3e0fcb209953ac00c03a1264f2b71
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000154.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000154.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca1c91d93cffec5c85588909b495830d81a290e3
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000154.json
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new file mode 100644
index 0000000000000000000000000000000000000000..e5e1032d13835154e75e9d1d806fb78cd69fa082
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000156.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000156.json
new file mode 100644
index 0000000000000000000000000000000000000000..37e41f11ca8f7e8047357f0ba7bed0b74b8ebf68
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000156.json
@@ -0,0 +1,231 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000157.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000157.json
new file mode 100644
index 0000000000000000000000000000000000000000..e85ec23e34365a955e345e4e02b2a7c8dd11c0a1
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000157.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000158.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000158.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ccbd359e1c1b29ee4f23e35baf062fc1d5ce76f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000158.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000159.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000159.json
new file mode 100644
index 0000000000000000000000000000000000000000..94479d6ebcf53c88e4d45830a52e9677f6251922
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000159.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000160.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000160.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a5062cb6a401a28ec05b74173a294c1e5e319b8
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000160.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000161.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000161.json
new file mode 100644
index 0000000000000000000000000000000000000000..93e38fa838cb0761d43b4ec46290243f2aedfa13
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000161.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000162.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000162.json
new file mode 100644
index 0000000000000000000000000000000000000000..03cec7822390fef8474885c8689346d0e9ba7205
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000162.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000163.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000163.json
new file mode 100644
index 0000000000000000000000000000000000000000..68ca9fcc7b6fe1df23b3f9ab1fadd69c248ee6d0
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000163.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000164.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000164.json
new file mode 100644
index 0000000000000000000000000000000000000000..0266cfd6687e1ff84cdfca7740e2f9c14202a897
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000164.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000165.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000165.json
new file mode 100644
index 0000000000000000000000000000000000000000..f76ed72712280c22aa676c320111655ff2e1c75f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000165.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000166.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000166.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa3543f62a0a45af5afe9f03a7bbfbf8f3c09ec2
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000166.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000167.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000167.json
new file mode 100644
index 0000000000000000000000000000000000000000..298254a06b17de5a247eca197a7e809124a34340
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000167.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000168.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000168.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee93dcf53b5a126545916f4da208a114a835efab
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000168.json
@@ -0,0 +1,235 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000169.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000169.json
new file mode 100644
index 0000000000000000000000000000000000000000..0adec981caf40258ce1e7791ce3a76161b09b640
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000169.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000170.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000170.json
new file mode 100644
index 0000000000000000000000000000000000000000..4af28ee4d989ae36f8f8bb7cea54b982337c1c3f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000170.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000171.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000171.json
new file mode 100644
index 0000000000000000000000000000000000000000..397b137a14688e207780d8641c6e90d167be8f98
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000171.json
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new file mode 100644
index 0000000000000000000000000000000000000000..c49cd917fce258fa2bfd54c54097b4fc72ea491e
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000172.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000173.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000173.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a432635d8f622737dcceecc82aef4d8963179e5
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000173.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000174.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000174.json
new file mode 100644
index 0000000000000000000000000000000000000000..e411a233fc2611ec3ac52d6c21d9a5c5ef6feb3b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000174.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000175.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000175.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e349e170a696e374daeb13a9efe84c2835fd4f6
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000175.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000176.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000176.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff5c63800579f173b316e58b3b5068ff19d49d34
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000176.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000177.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000177.json
new file mode 100644
index 0000000000000000000000000000000000000000..e14490cb5f372369e5bda40b42b06e59233ab0fb
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000177.json
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new file mode 100644
index 0000000000000000000000000000000000000000..4e6802723301f5dff90fed3072607206a63846b4
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000178.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000179.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000179.json
new file mode 100644
index 0000000000000000000000000000000000000000..901b1f45c941fd24b6015ecdd573aebff101acc9
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000179.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000180.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000180.json
new file mode 100644
index 0000000000000000000000000000000000000000..47fc5cd7aa8361b3587d01d8589e1aa45744c1b4
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000180.json
@@ -0,0 +1,242 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000181.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000181.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a079338248af773d5e4737f9a8f034f9a3c42e2
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000181.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000182.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000182.json
new file mode 100644
index 0000000000000000000000000000000000000000..6394eff7b87323103ba9cb5aba80f347dae3ba5a
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000183.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000183.json
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index 0000000000000000000000000000000000000000..1dbda17e1610742ed07ca4adbc6853e89f24b352
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+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000183.json
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index 0000000000000000000000000000000000000000..7dcf6e762ee29b7edf14fcfa5c14c59154139bc4
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..10b8f259d88c34c3722a7961f1b52eee2c52391e
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000185.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000186.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000186.json
new file mode 100644
index 0000000000000000000000000000000000000000..06207e1ad53d64d77ec1cb28c62203188a12195a
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000187.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000187.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b54679f8247eb1fa377e00d3f78f416aed31a52
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000187.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000188.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000188.json
new file mode 100644
index 0000000000000000000000000000000000000000..8866e5801a5456f01854848c7217e856e6fc1111
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000188.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000189.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000189.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb03043af5815eaee738d66fa7f47338b866c363
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000190.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000190.json
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index 0000000000000000000000000000000000000000..9100be89a1730f45499ecc714c108ae6d56a9ef6
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000190.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000191.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000191.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad62da4e0f6cff95fffe9a6ec7bac5005435820b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000191.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000192.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000192.json
new file mode 100644
index 0000000000000000000000000000000000000000..e511bcfb3e5e53f2f55c0d0bb4624c8123163a83
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000192.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000193.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000193.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa83bc485a01602e66a8c5845920a0ba2d30b169
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000193.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000194.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000194.json
new file mode 100644
index 0000000000000000000000000000000000000000..474105083e689d447ff1eb580e9a6aea39fa9e3b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000194.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000195.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000195.json
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index 0000000000000000000000000000000000000000..4320cfbf0972700f923ad1a7a9170fe867f9486a
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000195.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000196.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000196.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce7e73cf27ae6cc053e75a8b0b2a70d50a0718e8
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000197.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000197.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b071f6a839af543fe95ed21dc0113d5deb1c193
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000197.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000199.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000199.json
new file mode 100644
index 0000000000000000000000000000000000000000..1222764a1398216b1d0f74a6448a69cf76bfa80c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000199.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000200.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000200.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1943a0bd96c1c9379aeacc882b18f0096200bcc
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000200.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000201.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000201.json
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index 0000000000000000000000000000000000000000..892ba6e5799cbb2048b4331225e71c428cfc3b1b
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000202.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000202.json
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index 0000000000000000000000000000000000000000..3acf7f78d72633a71d594c4782459baade8488d4
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000203.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000203.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e538d832f1433a0c43e96b13a49413008cc8197
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000203.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000204.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000204.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c8a2833f406cecf7c7aed0121fe9cc52d8eb37b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000204.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000205.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000205.json
new file mode 100644
index 0000000000000000000000000000000000000000..a60f78e1ce238e3d1a8c7b5dea6c3f85f97fbb09
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000205.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000206.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000206.json
new file mode 100644
index 0000000000000000000000000000000000000000..8750bc77885a797a64f98ab583441961d2b7880b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000206.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000207.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000207.json
new file mode 100644
index 0000000000000000000000000000000000000000..11547ed3fac45d815875e0f71012721f3e164173
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000207.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000208.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000208.json
new file mode 100644
index 0000000000000000000000000000000000000000..4293d39b16587d4dd5facf9fd2174900c2f3293c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000208.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000209.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000209.json
new file mode 100644
index 0000000000000000000000000000000000000000..451cd40d0651079afdb112fc23fd76aa5e8cee61
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000209.json
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index 0000000000000000000000000000000000000000..7cb4aea63654ebca2edca2d8162ec14e0916db42
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000211.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000211.json
new file mode 100644
index 0000000000000000000000000000000000000000..017512ed8102892b33bef7d444aca36942ec1b00
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000211.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000212.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000212.json
new file mode 100644
index 0000000000000000000000000000000000000000..61359438105afa0b8074bf6ff35de7a0416f5c1b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000212.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000213.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000213.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab9e81e853e731abc5d639f223ff03a98d359228
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000213.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000214.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000214.json
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index 0000000000000000000000000000000000000000..34e75eb1b42222fa64b3628fbbaf5e020aaca1b0
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000214.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000215.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000215.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f493cd982324c740fb51dc06b4b2dd458fbf52d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000215.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000216.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000216.json
new file mode 100644
index 0000000000000000000000000000000000000000..12e4bcab4a7e12d753ec18e39d36125aa3d506a6
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000216.json
@@ -0,0 +1,243 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000217.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000217.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b07e3765f528f482f0d3ae704db7b30d94c4050
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000217.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000218.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000218.json
new file mode 100644
index 0000000000000000000000000000000000000000..10e6ad30a553c0911a624f2a723aa6e3eb3f7d3d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000218.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000219.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000219.json
new file mode 100644
index 0000000000000000000000000000000000000000..46b1e41ca0378bff9f48625858455295f0c1158b
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+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000219.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000220.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000220.json
new file mode 100644
index 0000000000000000000000000000000000000000..0656e790969b19f2713ac7e2f6af91145a25e1e8
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000221.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000221.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ae5d5eb40de3206eae3dd9616e72c37900c2a32
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000221.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000222.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000222.json
new file mode 100644
index 0000000000000000000000000000000000000000..1092e530bcc36ac3061f8a2dd6256e6c55dfb2e0
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000223.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000223.json
new file mode 100644
index 0000000000000000000000000000000000000000..e354a39fd231f38055d4b004bf999e484b2f1bf3
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000223.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000224.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000224.json
new file mode 100644
index 0000000000000000000000000000000000000000..f74138ef18a62a09ffc4e2e082c2d40294960348
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000224.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000225.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000225.json
new file mode 100644
index 0000000000000000000000000000000000000000..d230cbdf9b67767d7a2544be01d8b64d4701172f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000225.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000226.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000226.json
new file mode 100644
index 0000000000000000000000000000000000000000..2560ba9c81fe539d34fe7a5bbb55980f30f21b8f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000226.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000227.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000227.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e92b8fe05d753545062a76644fd6ff33f50b1f5
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000227.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000228.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000228.json
new file mode 100644
index 0000000000000000000000000000000000000000..a74a2823e534f705e23c3bae58f9b665a3ea1721
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000228.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000229.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000229.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cb83775821ba30ac9b3bf989979882fc0ff158e
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000229.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000230.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000230.json
new file mode 100644
index 0000000000000000000000000000000000000000..be794c1f06b822ce07e976b1672ae5c96aa763fd
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000230.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000231.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000231.json
new file mode 100644
index 0000000000000000000000000000000000000000..754ee08a473c264fdc0172792926345405981a28
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000231.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000232.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000232.json
new file mode 100644
index 0000000000000000000000000000000000000000..840f5cf4771625014c6658fd6781d6d105f2881c
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000233.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000233.json
new file mode 100644
index 0000000000000000000000000000000000000000..08a4c867686af9316418d71e10d2f0f16c7f68bb
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000233.json
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new file mode 100644
index 0000000000000000000000000000000000000000..288ad149243770e97da41c2bbba747a9f8633391
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000235.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000235.json
new file mode 100644
index 0000000000000000000000000000000000000000..8876b553d0cf206c6b617c0ed3130433f6ee230e
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000235.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000236.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000236.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cf6e083c0f14b231550848f5c897ae76c0c9d9f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000236.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000237.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000237.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc35edb6ee614a82f9e3f17d061c279ee2f46c42
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000237.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000238.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000238.json
new file mode 100644
index 0000000000000000000000000000000000000000..303438abbbee3fdc9b10a9c7dd7c00c7ec4bcaf2
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000238.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000239.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000239.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9c1d9efc91e8ebd092235287122d80ec44dcf72
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000239.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000240.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000240.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d01727383c90402d4f113465c99c1a49effaaff
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000240.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000241.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000241.json
new file mode 100644
index 0000000000000000000000000000000000000000..7af2df9a0484f4d11000e6648403580186318ff7
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000241.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000242.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000242.json
new file mode 100644
index 0000000000000000000000000000000000000000..78779925167e919c0c9b61f2f65d52552efa809f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000242.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000243.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000243.json
new file mode 100644
index 0000000000000000000000000000000000000000..a63aaed29a574a5913d3985645f0e819668b0531
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000243.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000244.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000244.json
new file mode 100644
index 0000000000000000000000000000000000000000..526fec42108648acb050c7f7c33260a2617d4307
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000245.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000245.json
new file mode 100644
index 0000000000000000000000000000000000000000..aad4cf638197fc2128140442e35cde3b21002730
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000246.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000246.json
new file mode 100644
index 0000000000000000000000000000000000000000..67f295917426ea8bf4545f1266e1ab25ab4dd444
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000246.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000247.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000247.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f74d28e59a2b2859acf4cd2da05584383408d08
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000247.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000248.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000248.json
new file mode 100644
index 0000000000000000000000000000000000000000..50a23fc4c1fed368515846a918c03f08841f47de
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000248.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000249.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000249.json
new file mode 100644
index 0000000000000000000000000000000000000000..9311e41417b1b88f50f29499898ffd1d800f6415
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000249.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000250.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000250.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fae7f0592c04b59ea99c40fd98619481994f86f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000250.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000251.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000251.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a9c4d6831efbacdc06519dafb2a024b09fcd3b2
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000251.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000252.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000252.json
new file mode 100644
index 0000000000000000000000000000000000000000..512e9cb877ce507b2927df31cc2bcfbba6e70f34
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000252.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000253.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000253.json
new file mode 100644
index 0000000000000000000000000000000000000000..f545d5d30ef376a75fe811c0e08adad3c636bc6b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000253.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000254.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000254.json
new file mode 100644
index 0000000000000000000000000000000000000000..92cf16da0b0663ac2988f225056c6f78f384d849
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000254.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000255.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000255.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d3620b5b1f7d297a8ccd852488f156c1bf029ba
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000255.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000256.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000256.json
new file mode 100644
index 0000000000000000000000000000000000000000..f18da9d379e53a2d79aa0bb9bc8406a2b884989f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000256.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000257.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000257.json
new file mode 100644
index 0000000000000000000000000000000000000000..74c62de7b4826dad394bf5eb66db75e7a26392c7
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000257.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000258.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000258.json
new file mode 100644
index 0000000000000000000000000000000000000000..4555e60ef4752e2e6aa19f7a9a8c43a694576ba3
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000258.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000259.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000259.json
new file mode 100644
index 0000000000000000000000000000000000000000..7133c5ff91b04aa8c1ea71936a6ecf73ebba63f4
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000259.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000260.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000260.json
new file mode 100644
index 0000000000000000000000000000000000000000..0165d515b92b66190e19bbfd52a24ae81858b0ae
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000260.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000261.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000261.json
new file mode 100644
index 0000000000000000000000000000000000000000..26761ca5fb664628a53866a948598102f62ea148
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000261.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000262.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000262.json
new file mode 100644
index 0000000000000000000000000000000000000000..17cec29efc81773dcc4ba6c4c3a9e422d80144ec
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000262.json
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new file mode 100644
index 0000000000000000000000000000000000000000..17eda6e091c268a1de8d22184ac56d4ac760fc92
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000264.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000264.json
new file mode 100644
index 0000000000000000000000000000000000000000..cec9ac624b5beb8fb4e6dfe659a38415624eeb84
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000264.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000265.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000265.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0991cc787e446534bba6426577ea10fd191239a
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000265.json
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new file mode 100644
index 0000000000000000000000000000000000000000..c301b5558abd8440f06c92bce1caad93c9261951
--- /dev/null
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index 0000000000000000000000000000000000000000..3fbcf15e9b7eb8b209e580efd4bd97c4f647d962
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000268.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000268.json
new file mode 100644
index 0000000000000000000000000000000000000000..48287ee88663efcff2118028bb2762b029cf38ac
--- /dev/null
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index 0000000000000000000000000000000000000000..0ce74f9e965bed725b925d810eb4ac894472da2b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000269.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000270.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000270.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f80ff1257b0b8812aef15f162d71af242cb800f
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000271.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000271.json
new file mode 100644
index 0000000000000000000000000000000000000000..63e60120e4f919f1571c3610fbbaf9c9b55851fa
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000271.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000272.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000272.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d66acc244715192f1a3477ac8eeefaffa7a9612
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000272.json
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new file mode 100644
index 0000000000000000000000000000000000000000..9802ba0bcfe881f38c07ba8ba51a058ba4727d8b
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000274.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000274.json
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index 0000000000000000000000000000000000000000..86bb617ca200480046d5a4321946e4d346fb2b9d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000274.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000275.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000275.json
new file mode 100644
index 0000000000000000000000000000000000000000..13833cf4f20241b611c9c86179efb3cf66ab1262
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000275.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000276.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000276.json
new file mode 100644
index 0000000000000000000000000000000000000000..de4081106bc25d3dc5cd0f7177124c27ba662772
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000276.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000277.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000277.json
new file mode 100644
index 0000000000000000000000000000000000000000..75626546cdccb5cbe87c1e712ef37d34fb43f43e
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000277.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000278.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000278.json
new file mode 100644
index 0000000000000000000000000000000000000000..26daf68fc6f92ab820c28d0830a113eaccedd1f1
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000278.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000279.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000279.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc6ce3d56952aec6953c6b127afc1b50798c6d4a
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000279.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000280.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000280.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d639f2c787a5f99ef32603e230cce1e548c80f9
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..4b5008b5186183b628d8d9960254e2007eaa9c14
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000281.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000282.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000282.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc6907e972685f080dd9bff13f7282b9f76d0bbe
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000282.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000283.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000283.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc674778c185fc42dfcc96239bcb44ac2cdf4259
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000283.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000284.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000284.json
new file mode 100644
index 0000000000000000000000000000000000000000..50b2d52329fff73f127493e45d2a127a0099302b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000284.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000285.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000285.json
new file mode 100644
index 0000000000000000000000000000000000000000..4efcabb84dd13d4f56d3bd81142f9dfb391a2800
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000285.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000286.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000286.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea9bb2ac80bc9f3610e7e572ed16413f57ee7cd0
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000286.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000287.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000287.json
new file mode 100644
index 0000000000000000000000000000000000000000..98d03dc5be69e0b7bdf9b8ff98f1c5ad139f2734
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..ab0ca505572d3bd6d1b419eb0c438a6378b6159c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000288.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000290.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000290.json
new file mode 100644
index 0000000000000000000000000000000000000000..c930562769044e0eb2ff8c68753138f38ea4af02
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000290.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000291.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000291.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ebe7a8bf84a89f3b497542cff0b5e48047078ed
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000291.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000292.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000292.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca67630b83c6b0af53fa7394d7ccb554ac2a090c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000292.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000293.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000293.json
new file mode 100644
index 0000000000000000000000000000000000000000..daeceac2c87db80d60996b6ce7ae259861232959
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000293.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000294.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000294.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1759995057f71e5a76f22f3a83db1f23c32a32d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000294.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000295.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000295.json
new file mode 100644
index 0000000000000000000000000000000000000000..863488c6c4b86ec0d6a19b638acd104aae2ae0be
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000295.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000296.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000296.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d5f0138873f6df0cf4bebe118c5b37ec26a4cba
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000296.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000297.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000297.json
new file mode 100644
index 0000000000000000000000000000000000000000..553a0c0c4046c186c95fee4045e87f0682e34f47
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000297.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000298.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000298.json
new file mode 100644
index 0000000000000000000000000000000000000000..278c81c2056fce9e92674ee43bd16302ccb1f279
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000298.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000299.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000299.json
new file mode 100644
index 0000000000000000000000000000000000000000..88ac2f99d0d80d18a0011c2fc3a22e39968e8d68
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000299.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000300.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000300.json
new file mode 100644
index 0000000000000000000000000000000000000000..071bb7e6ddac1765424ded2a3d50ac85ff4c1254
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000300.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000301.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000301.json
new file mode 100644
index 0000000000000000000000000000000000000000..2243cf574466bbd176a4e91740e89d2b186e22ce
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000301.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000302.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000302.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e25c358692ae22262cd4e949ef8efe9eb163439
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000302.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000303.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000303.json
new file mode 100644
index 0000000000000000000000000000000000000000..9115af90869441a0d5152034682a4fccec65ccf6
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000303.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000304.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000304.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d9ec8bb4ce06617c633e553763b232941727b73
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000305.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000305.json
new file mode 100644
index 0000000000000000000000000000000000000000..81a1a8a102042e1d440c6da1bfebefa6d765ab71
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000305.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000306.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000306.json
new file mode 100644
index 0000000000000000000000000000000000000000..491578283bad6c991d3b49064dbd62d11365211a
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..ef2ee9734cd90a9aa7c6a78598637002b115a87b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000307.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000308.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000308.json
new file mode 100644
index 0000000000000000000000000000000000000000..5caa510d49f6578079c21a099cecd4acf8c53ca5
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000308.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000309.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000309.json
new file mode 100644
index 0000000000000000000000000000000000000000..6446f8506b34a6f4932630488b896d6d5936663d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000309.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000310.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000310.json
new file mode 100644
index 0000000000000000000000000000000000000000..b900b4c0d678d1990b9cd953de3257a1e889d86d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000310.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000311.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000311.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f590bed571ac9ffc688635d5dd48063e0672275
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000312.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000312.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8e82ac7a7ec9c5a0a2c60ec5081fc9773c579e7
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000313.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000313.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e62dc3f2481e30f6f3c9138b5a89d91c026ea2d
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000314.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000314.json
new file mode 100644
index 0000000000000000000000000000000000000000..31cd2e7c87834639bbff870f2b9c899daee28d2b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000314.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000315.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000315.json
new file mode 100644
index 0000000000000000000000000000000000000000..d598458120178fe460cd971c44cc2006b3d0d40b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000315.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000316.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000316.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f7c9b0a21005101e42f37988d29901e269910df
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000316.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000317.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000317.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f78f103bd923b4f7c162796422171cd13a4b21b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000317.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000318.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000318.json
new file mode 100644
index 0000000000000000000000000000000000000000..239211d9b80d08d6a2d072d5ef79a31f25e82ddf
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000318.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000319.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000319.json
new file mode 100644
index 0000000000000000000000000000000000000000..5799fd7adefef98277e5b7effe41fb1ea48fc12b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000319.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000320.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000320.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ec95f53fdf818a14ec21f39113e9eb33d93f3e0
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000320.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000321.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000321.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d2371ae1d448c1ff1a935443fc36939bb7b020b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000321.json
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new file mode 100644
index 0000000000000000000000000000000000000000..30536f918428776a5a1520bb6077eb5b83d4f7b2
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000322.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000323.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000323.json
new file mode 100644
index 0000000000000000000000000000000000000000..610197c8b4e783ee8208d1aa7a497577d45eb0a1
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000323.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000324.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000324.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2dc6ac9e21a5567299566f5c6618e299e96379d
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+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000324.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000325.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000325.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7596195e12938a5d718d6b461b323503deb95cf
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000325.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000326.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000326.json
new file mode 100644
index 0000000000000000000000000000000000000000..2981a7bee179c1923219759bd7b79767bd7b5539
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000326.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000327.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000327.json
new file mode 100644
index 0000000000000000000000000000000000000000..e60d8868e41a4c475e29f118701989a588779737
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000327.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000328.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000328.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca644469183bb763e2a7dbc072447d589dfe3c1e
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000328.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000329.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000329.json
new file mode 100644
index 0000000000000000000000000000000000000000..efd2ee090093877edf2393801202a58636e0dc37
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000329.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000330.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000330.json
new file mode 100644
index 0000000000000000000000000000000000000000..6508fdb343bb0a66a6a67da7e1800dc37665c655
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000331.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000331.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2aa5f02dc646fb61a6f4c8a39fdaea57cd772da
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000331.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000332.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000332.json
new file mode 100644
index 0000000000000000000000000000000000000000..a46f83a31dccf415e1680a56f4cfbb7d8fb35e5f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000332.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000333.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000333.json
new file mode 100644
index 0000000000000000000000000000000000000000..198f885151782710df070ad7b678c4cd13848f90
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000333.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000334.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000334.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e783d9aa70b2b08799b261131e23a7e9a9e1dbf
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000334.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000335.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000335.json
new file mode 100644
index 0000000000000000000000000000000000000000..f580ed50f90c59fa1c1ab1b6a7c09eb91667a387
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000335.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000336.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000336.json
new file mode 100644
index 0000000000000000000000000000000000000000..781239e5e46106f981b68a9d3946883a1719be3e
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000336.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000337.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000337.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f40679a34bd0a6c3091bafa47c776306f4d9f7a
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000337.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000338.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000338.json
new file mode 100644
index 0000000000000000000000000000000000000000..68471871da42fa1d4885428dcb14e02016afc7ac
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000338.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000339.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000339.json
new file mode 100644
index 0000000000000000000000000000000000000000..78882ba1d1db7af513db21c2ad7612cd41a7ad99
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000339.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000340.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000340.json
new file mode 100644
index 0000000000000000000000000000000000000000..c47445e507405f8350a8bbd80175f136f0b0c70e
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000340.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000341.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000341.json
new file mode 100644
index 0000000000000000000000000000000000000000..c75028c7bf5f172b8dfbdbd034e7dd738c9dfcc0
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000341.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000342.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000342.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a6dfd446a6240777f745c5a01d2a65bb7970424
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000342.json
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new file mode 100644
index 0000000000000000000000000000000000000000..eb085714d01118070591a09cb9ec07fa82e3ce27
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000343.json
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new file mode 100644
index 0000000000000000000000000000000000000000..cf02fbdd451c037571da22521e4fc30d22119d36
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000345.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000345.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e4f2b950431db5f576a4ff9456ee02ab0b083b5
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000345.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000346.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000346.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa329ccf5069c968bca635e2385f2673d68addab
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000346.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000347.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000347.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dd6512fe19d0cd130a0a17528572d817ecd426e
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000348.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000348.json
new file mode 100644
index 0000000000000000000000000000000000000000..b33bf329e93845c9ad12836683b0697551a62292
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000348.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000349.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000349.json
new file mode 100644
index 0000000000000000000000000000000000000000..401152fff6ba2564390046a032012ae482480fc1
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000349.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000350.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000350.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec0ac8c85eda5b7f748b5c8a7f68a78683f2a100
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000350.json
@@ -0,0 +1,234 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000351.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000351.json
new file mode 100644
index 0000000000000000000000000000000000000000..f461931f722f3af95c4a37ea58d6880db5f45591
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000351.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000352.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000352.json
new file mode 100644
index 0000000000000000000000000000000000000000..418919451bf6fcc66fbfe60531b76df2a061941c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000352.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000353.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000353.json
new file mode 100644
index 0000000000000000000000000000000000000000..678e7da4d9be0a2673a862b1a832aeff8aa1512e
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000353.json
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new file mode 100644
index 0000000000000000000000000000000000000000..ba0ca7e4a5af6dacf5d6f3ce00c7a4a48ae9d295
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..904ea978c1e52cd256f705ef470cd30ed932caed
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..9372e9c7673a9557dad361c9c251bc62fedf695d
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000357.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000357.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc069da05f4884819ca49586aa6c58fa191679cb
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000357.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000358.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000358.json
new file mode 100644
index 0000000000000000000000000000000000000000..03a86860d1c0161bf939d314b7cce4e1a8127b2d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000358.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000359.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000359.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8ffc4cce5ee267066de4038c849bcd6382aaaad
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000359.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000360.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000360.json
new file mode 100644
index 0000000000000000000000000000000000000000..392ec8e4733785a9001cd15553a37e72b16a0a36
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000360.json
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new file mode 100644
index 0000000000000000000000000000000000000000..b9bd4d1a76442d2e7a8b793a121b2c89fa456ab3
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..11f62d5b4c001ced33999ff351d6c9313f07fa72
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000362.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000363.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000363.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d44283b15077825853b80fbc0d006c0e72d1736
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+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000363.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000364.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000364.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2d45a5113c7541eb32176078ee981c287fb00ec
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000364.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000365.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000365.json
new file mode 100644
index 0000000000000000000000000000000000000000..297264e767532705e520ec6c92ee7dcd74f878d0
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000365.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000366.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000366.json
new file mode 100644
index 0000000000000000000000000000000000000000..813fc2571c8131f0ffac723dcd13ed55d62dd03d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000366.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000367.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000367.json
new file mode 100644
index 0000000000000000000000000000000000000000..3efdd0f2f8a8da302b1be8eac5ed67dd9e1fe64c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000367.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000368.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000368.json
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index 0000000000000000000000000000000000000000..89138579163f90c8e3b02afce8d139f350581ece
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000369.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000369.json
new file mode 100644
index 0000000000000000000000000000000000000000..08bcd107ab5ad3d4f998837294d6ac7cf85475d0
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000369.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000370.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000370.json
new file mode 100644
index 0000000000000000000000000000000000000000..89c838bc10c4aca100a0d739f9e82f88d7672c0e
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000370.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000371.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000371.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fff505a6cdea63b1c7bca1f25598fcd328b21e1
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000372.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000372.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea1b19e3bc358175e6dca07c627a3e678a3a5e6e
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000373.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000373.json
new file mode 100644
index 0000000000000000000000000000000000000000..58ef8e5e75e37d5d05eaf7c2cdc736b86179e743
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000373.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000374.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000374.json
new file mode 100644
index 0000000000000000000000000000000000000000..39dfd667248a917f8c6c1eb00d9e1d92a0059249
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000374.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000375.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000375.json
new file mode 100644
index 0000000000000000000000000000000000000000..56b9f24b02a70c1450bad26001ac7f8a8d77f373
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000375.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000376.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000376.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bb33f5b5890a75a6386871f9ed81e49fe0fa2dc
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000376.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000377.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000377.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3e86c6039698505af7fcabf6c2cd4a7ee655e98
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000377.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000378.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000378.json
new file mode 100644
index 0000000000000000000000000000000000000000..65c82d01ebf125f09e24f02f75b3637a63cffd67
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000378.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000379.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000379.json
new file mode 100644
index 0000000000000000000000000000000000000000..f66faf8c2257006a95361f5a39e6f4baa3c0613d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000379.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000380.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000380.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ad22b8563fc1d4591101b9d7f0c4e1503fbcf03
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000380.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000381.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000381.json
new file mode 100644
index 0000000000000000000000000000000000000000..7eafa351cfc00a5ac7701e3c4a41beea3e997d52
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000381.json
@@ -0,0 +1,235 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000382.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000382.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad286e09369758646e2f28efd8a5dd9b25174417
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000382.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000383.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000383.json
new file mode 100644
index 0000000000000000000000000000000000000000..91fd9ecb347791053c0f1095719e01206e50cfe0
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000383.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000384.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000384.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ecbf7734528a114a636b9612d240c419f22a5fa
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000384.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000385.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000385.json
new file mode 100644
index 0000000000000000000000000000000000000000..b34141b3c9bc5f247e590da2d4f6c477a7f2d609
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000385.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000386.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000386.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b0752221ef6bf9afa81033777d8784b29e08078
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000386.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000387.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000387.json
new file mode 100644
index 0000000000000000000000000000000000000000..de467056ffaa3eabdc68e113616f4628328ccf96
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000387.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000388.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000388.json
new file mode 100644
index 0000000000000000000000000000000000000000..41ce32f4332b88d04f571b891daa4913ddda4213
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000388.json
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index 0000000000000000000000000000000000000000..480f79e715ea3f734a5f95a8367711407315bf90
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new file mode 100644
index 0000000000000000000000000000000000000000..56ac3bab4f7316da839be88a3b94faf6694f98c7
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000390.json
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new file mode 100644
index 0000000000000000000000000000000000000000..f7ebde0b916d2e77f6a5a885e0b6b4e54cca34f3
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000391.json
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new file mode 100644
index 0000000000000000000000000000000000000000..756525a22df06ddaf0880900d13d745c76876e57
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000393.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000393.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e4c9702976ef868ac07f527924ef55c9053b10c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000393.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000394.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000394.json
new file mode 100644
index 0000000000000000000000000000000000000000..34a74dfd0d16a8f552d49e5455d59fa0d60a5349
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000394.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000395.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000395.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a7d381b376890c953474491a0bca6ea11c46ad5
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000396.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000396.json
new file mode 100644
index 0000000000000000000000000000000000000000..132d4082b97e3e6ac96af0ba9b3c9ebe00a54b23
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000396.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000397.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000397.json
new file mode 100644
index 0000000000000000000000000000000000000000..57abebb41fba2f51cd7699a6b510b12f10cf219b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000397.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000398.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000398.json
new file mode 100644
index 0000000000000000000000000000000000000000..df798ad50db1ddd8112893bd2dcdc6641979aab5
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000398.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000399.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000399.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd5983901a16ad75c1b08dad321f02c4765d928c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000399.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000400.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000400.json
new file mode 100644
index 0000000000000000000000000000000000000000..65af05d828f715fac7980c042e8e16ecde44d2e1
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000400.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000401.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000401.json
new file mode 100644
index 0000000000000000000000000000000000000000..95b4b02497e3a44f396a738c68887babfd95a489
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000401.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000402.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000402.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f326f47bb954e699c477c1291ad3a5157f65df3
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000402.json
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new file mode 100644
index 0000000000000000000000000000000000000000..916dbececfce68c57eba9eb8faabffccf0c2bebc
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000403.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000404.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000404.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccf4e4234a7ada188550cf1c2779635214e6b1f0
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000404.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000405.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000405.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae6999f3f7056becbb8824291552d07d5b9a4fa8
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000405.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000406.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000406.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1a1be3eb61438c5857accdc837dfc49ee8d50d5
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000406.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000407.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000407.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd1835904b6bec84368c8eab4872f7ed4fdec045
--- /dev/null
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index 0000000000000000000000000000000000000000..db6972f8eb14000ac5007a075061027e4c72c1b3
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000409.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000409.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cd244d092c6691c73c03fbf80074f568651e2ad
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000409.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000410.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000410.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab34b8a6d8a0f0ed4281cc7d9f15bc054e461aa8
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000410.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000411.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000411.json
new file mode 100644
index 0000000000000000000000000000000000000000..61cf53302897f824809e20790e94491c02ce3649
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000411.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000412.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000412.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9905dbd4a18d1109aef14cc07123ca2f39d432f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000412.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000413.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000413.json
new file mode 100644
index 0000000000000000000000000000000000000000..8142c72efa39048d5b831c5e6a0bbedb904216b6
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000413.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000414.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000414.json
new file mode 100644
index 0000000000000000000000000000000000000000..c879bff711aa577c10c4be093329e039f1f39685
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000415.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000415.json
new file mode 100644
index 0000000000000000000000000000000000000000..b80f5e92aae94c1097fa60b6aa904c222ce00aec
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000416.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000416.json
new file mode 100644
index 0000000000000000000000000000000000000000..7713f7786d36719afdd0279c534aca2672122e3d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000416.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000417.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000417.json
new file mode 100644
index 0000000000000000000000000000000000000000..514d8b502e772e38b3f435cfffc67b5efea21b4a
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000417.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000418.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000418.json
new file mode 100644
index 0000000000000000000000000000000000000000..abf33a6cd96a057f9d10ae9b44e11ab77b6641eb
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000418.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000419.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000419.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb5acf4403a86507646ce610f3c5f6c3bf97cc03
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000419.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000420.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000420.json
new file mode 100644
index 0000000000000000000000000000000000000000..48c00d5b147aaf336523f3e29266e7d211c3c5cf
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000420.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000421.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000421.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6db7e4a48c0b2f8baecde0cb8aafec5b795c489
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000421.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000422.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000422.json
new file mode 100644
index 0000000000000000000000000000000000000000..f05f860a63ad07a52a5bb5b124131bb513906e29
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000422.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000423.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000423.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ba6211a429ed3da59e0713be5b2d6d9a0a666ed
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000423.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000424.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000424.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ef2bb4fdd262b563c995b90dc81a5121d838e32
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000424.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000425.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000425.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c72c77b46719d8a87bf625ead3fab3e17d72277
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000425.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000426.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000426.json
new file mode 100644
index 0000000000000000000000000000000000000000..27f4fbc8465870404764a9e0012f05320ad5e2e7
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000426.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000427.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000427.json
new file mode 100644
index 0000000000000000000000000000000000000000..c272b721eb7fdcf1eb7e2e6bb5d69c499305355a
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000427.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000428.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000428.json
new file mode 100644
index 0000000000000000000000000000000000000000..4afb142681faeb2d94544ffa49137dca6ec61570
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000428.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000429.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000429.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a331df1d09c301de4e45e2753d913ef4b505d84
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000429.json
@@ -0,0 +1,231 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000430.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000430.json
new file mode 100644
index 0000000000000000000000000000000000000000..0492c1fdf885dd64c7157287c10bc0603ff7f2e6
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000430.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000431.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000431.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f2a054d6b5ce57255778ba4a74014869079eeeb
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000431.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000432.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000432.json
new file mode 100644
index 0000000000000000000000000000000000000000..6eacc81b3e64ed13f2d8a0d7fb8301fb9f2544e5
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000432.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000433.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000433.json
new file mode 100644
index 0000000000000000000000000000000000000000..be02eaca2746c785a62bcd67a1781f8794579640
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000433.json
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new file mode 100644
index 0000000000000000000000000000000000000000..3ce432ef44f131cbd101f8bf7e2bc4ec9b60d94f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000434.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000435.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000435.json
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index 0000000000000000000000000000000000000000..4fe3a97269fd708a05a450422efbc8f97895e300
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000435.json
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+}
diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000436.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000436.json
new file mode 100644
index 0000000000000000000000000000000000000000..c079f2ff5cac902549e0dfca663729e43c445b38
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000436.json
@@ -0,0 +1,229 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000437.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000437.json
new file mode 100644
index 0000000000000000000000000000000000000000..30bd6136fbb21d6048f628c5bb004f43c3d01645
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000437.json
@@ -0,0 +1,230 @@
+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000438.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000438.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6a902847c5ffc8fa00b0f27dec7f77dea9ac4c6
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000438.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000439.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000439.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7fad94d5438af02b6ddbe529783bcc57ab6cb41
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000439.json
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new file mode 100644
index 0000000000000000000000000000000000000000..74c96cebc23084322b9f6b9d0a036e227e04d843
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..b036f900029170ae694460ce7e65a1fc48387a60
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000441.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000442.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000442.json
new file mode 100644
index 0000000000000000000000000000000000000000..552cf5e3047bf01f1a079a0bf1fc633f45703ac2
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+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000442.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000443.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000443.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a4ebdb221002fa99513e443943ad89590e42f07
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000443.json
@@ -0,0 +1,236 @@
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000444.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000444.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e0b1592da4c0685e43651d208ee206c83aa9b5c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000444.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000445.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000445.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc8b8f4e222273c8438ada5454d68fe2ae1ced6c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000445.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000446.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000446.json
new file mode 100644
index 0000000000000000000000000000000000000000..19337a3dee90eec3026c261501dfa3f8439ac23b
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000446.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000447.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000447.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f23e5cb907d817def4434763ea8416bb0ef60f0
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000447.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000448.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000448.json
new file mode 100644
index 0000000000000000000000000000000000000000..b801436a3483c626bb3efbec9673a0729bbb6c81
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000448.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000449.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000449.json
new file mode 100644
index 0000000000000000000000000000000000000000..38a454a5e4deff69fecc31c7afa4bc8981cb6634
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000449.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000450.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000450.json
new file mode 100644
index 0000000000000000000000000000000000000000..39a0f7d60efc42481c393896b146193c5b43b1b2
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000450.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000451.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000451.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a9b684c3afe0009609f1d74e5bcd12d6f4a3fa2
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000451.json
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new file mode 100644
index 0000000000000000000000000000000000000000..8126a479f4fcbb34881a3a24fa14bb68d158b0ca
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..2da06e04d848b8b0a8c41c972827e977f0de0f92
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..73adcb1d71889c756cdb6ef0f91ccff8ab3f4a92
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000455.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000455.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e4566d39dd9127eccd664903a1c4fca1e41c175
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000455.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000456.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000456.json
new file mode 100644
index 0000000000000000000000000000000000000000..7232cff1dd5e8e59409181cd6365de87fe3b7b69
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000456.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000457.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000457.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cd5c5b21609ac218ca8aff8d55a690755f4c9a1
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000457.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000458.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000458.json
new file mode 100644
index 0000000000000000000000000000000000000000..15de0e1a37f72e0b0b0d35bc46654452301d57b5
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000458.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000459.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000459.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e9f6cdbceb61543e08d903d7d7e3775d3b99b78
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000459.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000460.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000460.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b87e24b79011f1be98e0013e675501fd635b6a9
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000460.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000461.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000461.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ecae8e87fe7ee16e8ccb98185e3748a51a947eb
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000461.json
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new file mode 100644
index 0000000000000000000000000000000000000000..b1b45e6b2b60eea892f4372e6ccc6b3900140468
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000462.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000463.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000463.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0076c232421937fdb0f9d2a92da8c0b8a446352
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000463.json
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new file mode 100644
index 0000000000000000000000000000000000000000..577fe0c556b26f04c2c0d6399dae44fa2bdf94f4
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..77e2f6d36a1c1b1932f60d7f2179044c5384fdda
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000465.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000467.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000467.json
new file mode 100644
index 0000000000000000000000000000000000000000..30a5e6b3af604bcee8d621aeb4590b177fb46d19
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000467.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000468.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000468.json
new file mode 100644
index 0000000000000000000000000000000000000000..215123c00b86aa59ec6493fc0911e8a09c5734af
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000468.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000469.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000469.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bc9fb82f1ef9cc0e2e67ca34229ff127b5bad7c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000469.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000470.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000470.json
new file mode 100644
index 0000000000000000000000000000000000000000..34584ac6af92c02b0876fc6a15c57f131c95950f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000470.json
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new file mode 100644
index 0000000000000000000000000000000000000000..e3e0f244ec09268f022aa07f75031ef24ba11901
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000472.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000472.json
new file mode 100644
index 0000000000000000000000000000000000000000..6296cf4d23c94503e1a8a5b87175c4e5b66584e5
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000472.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000473.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000473.json
new file mode 100644
index 0000000000000000000000000000000000000000..51903300370efbd757600be086145eda4ec4da41
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000473.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000474.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000474.json
new file mode 100644
index 0000000000000000000000000000000000000000..46818b749bb44a7f3e1b2deb7d7d869ba3674073
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000474.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000475.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000475.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b92e8928e33e51d4a84316542c2af04d1bbc469
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000475.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000476.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000476.json
new file mode 100644
index 0000000000000000000000000000000000000000..07967181da307084958add6c3e7e9d9aa9e21769
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000476.json
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new file mode 100644
index 0000000000000000000000000000000000000000..3f892d0cd8a364039dbe0a9a1044f0859fc6131d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000477.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000478.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000478.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b97285058c4c1d1e2d3667085055ded08214554
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000479.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000479.json
new file mode 100644
index 0000000000000000000000000000000000000000..b730792723275075ffa69dda1094edb858aa41c9
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000479.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000480.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000480.json
new file mode 100644
index 0000000000000000000000000000000000000000..396e5f615c924a3299d586f51589a719aa9765b6
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000480.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000481.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000481.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3792722256e9b9e9f8c7af8b87afd67d1592ff8
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000481.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000482.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000482.json
new file mode 100644
index 0000000000000000000000000000000000000000..41c19ebf93a653a93d86ac9ea73a3318f155ab5d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000482.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000483.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000483.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2faa1507cb4fa05ec0704cd3b3ae57112c34784
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000483.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000484.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000484.json
new file mode 100644
index 0000000000000000000000000000000000000000..e962a8bc73b9c8d1ddab427b49e0a2129e8c78ce
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000484.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000485.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000485.json
new file mode 100644
index 0000000000000000000000000000000000000000..765aa8ee22f95819a58694cbf68e700ee1e4111d
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000485.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000486.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000486.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5c33058ecbb116e3dd4f2adf14b453c18c47a4e
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000486.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000487.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000487.json
new file mode 100644
index 0000000000000000000000000000000000000000..7118db3fd3150da647055b527e2ea6fa8f00bc6c
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000487.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000488.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000488.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ee5008970d795f0c33088c537db94a8389eb6cc
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..e94ee52df9b3a01b7fbf93e8c231cbedfd1e8a1f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000489.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000491.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000491.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5f3dd8793acee200a987256cc4fa48ac3a34cb0
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000491.json
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+{
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000492.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000492.json
new file mode 100644
index 0000000000000000000000000000000000000000..f56f3995099ebce551f53d9b8b175fa0eafdc725
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000492.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000493.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000493.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b365c3a996f24462863c4df5cb9a7b78192aa36
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000494.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000494.json
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index 0000000000000000000000000000000000000000..2456192a48a9b77d3aece7169b43b9a83a01b0fa
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new file mode 100644
index 0000000000000000000000000000000000000000..1d3d103844e82711eeeb257120f346a52bcb22aa
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..ff93924a142ec3780b18e11ec73d6fdf4d282e94
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000496.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000497.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000497.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a06ca8bea8ff44bcaff6c9a4d59f8f3ef10d9fe
--- /dev/null
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000498.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000498.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ae87c22849084b73744dfffe7a20d93992bfa7f
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000498.json
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diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000499.json b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000499.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5f510173697b10462024617cbd2133cac7ee112
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/episode_000499.json
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+                "source": "/media/damoxing/datasets/robotwin-depth-f1/blocks_ranking_rgb/demo_randomized/data/episode499.hdf5::observation/left_camera/depth",
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+            },
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+                "source": "/media/damoxing/datasets/robotwin-depth-f1/blocks_ranking_rgb/demo_randomized/data/episode499.hdf5::observation/right_camera/depth",
+                "output_path": "/media/damoxing/datasets/vae4d/lerobot-vae4d-org/robotwin_gt_depth/blocks_ranking_rgb-aloha-agilex_randomized_500/depth/chunk-000/observation.images.cam_right_wrist/episode_000499.hdf5",
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+            }
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+    },
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+}
diff --git a/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/video_resolutions.jsonl b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/video_resolutions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2bd268cf1f70884d783b06d9e80e15273241d3cb
--- /dev/null
+++ b/data/aloha_clean/blocks_ranking_rgb-aloha-agilex_randomized_500/source_meta/video_resolutions.jsonl
@@ -0,0 +1,1500 @@
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