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+      "key": "01cee861210a199103712fee8a18f88acf26d1f8",
+      "file": "01cee861210a199103712fee8a18f88acf26d1f8.pt",
+      "normalized_text": "Pick up the cylindrical roller with tapered ends from the table.",
+      "raw_texts": [
+        "Pick up the cylindrical roller with tapered ends from the table."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "02ab37b1e5e7507b36129347e540f289a026cef9",
+      "file": "02ab37b1e5e7507b36129347e540f289a026cef9.pt",
+      "normalized_text": "Pick up the light wood roller from the table.",
+      "raw_texts": [
+        "Pick up the light wood roller from the table."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "02e4d7c12fdd324601827694f7fd18fb5b865331",
+      "file": "02e4d7c12fdd324601827694f7fd18fb5b865331.pt",
+      "normalized_text": "Take hold of the long slim roller.",
+      "raw_texts": [
+        "Take hold of the long slim roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "0496c97c0ba5c7468f6d085e9c62d5aa7c452dd9",
+      "file": "0496c97c0ba5c7468f6d085e9c62d5aa7c452dd9.pt",
+      "normalized_text": "Take hold of the cylindrical roller with tapered ends using your arms.",
+      "raw_texts": [
+        "Take hold of the cylindrical roller with tapered ends using your arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "04bee85489345cba44ff8cecb9db1ca0db82a309",
+      "file": "04bee85489345cba44ff8cecb9db1ca0db82a309.pt",
+      "normalized_text": "Lift the light brown roller with your arms.",
+      "raw_texts": [
+        "Lift the light brown roller with your arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "059b82b06d85cd69454d164fe14fa10abe23c3fa",
+      "file": "059b82b06d85cd69454d164fe14fa10abe23c3fa.pt",
+      "normalized_text": "Grip the brown roller firmly with arms.",
+      "raw_texts": [
+        "Grip the brown roller firmly with arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "08359ba9b6766efc98612b6f3fb5a3c32742e083",
+      "file": "08359ba9b6766efc98612b6f3fb5a3c32742e083.pt",
+      "normalized_text": "Hold the smooth light brown roller firmly from the table.",
+      "raw_texts": [
+        "Hold the smooth light brown roller firmly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "085b506c79a11d299c8ebce049a0350d4c5c4d12",
+      "file": "085b506c79a11d299c8ebce049a0350d4c5c4d12.pt",
+      "normalized_text": "Take the smooth light brown roller directly from the table.",
+      "raw_texts": [
+        "Take the smooth light brown roller directly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "0865648fc7a56b040aa134425a3811d3118deee5",
+      "file": "0865648fc7a56b040aa134425a3811d3118deee5.pt",
+      "normalized_text": "Get hold of the medium roller with narrower tips using your arms",
+      "raw_texts": [
+        "Get hold of the medium roller with narrower tips using your arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "0902d802a7382954bc623a092645454fbfb83fe9",
+      "file": "0902d802a7382954bc623a092645454fbfb83fe9.pt",
+      "normalized_text": "Firmly grip the long slim roller on the table now.",
+      "raw_texts": [
+        "Firmly grip the long slim roller on the table now."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "09ed4783050541fb9b5323dd8f051df6a22d265a",
+      "file": "09ed4783050541fb9b5323dd8f051df6a22d265a.pt",
+      "normalized_text": "Place hands on the roller for smoothing materials and lift.",
+      "raw_texts": [
+        "Place hands on the roller for smoothing materials and lift."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "0a94ca0334aab0c433ac97a01e45a9e48a977eda",
+      "file": "0a94ca0334aab0c433ac97a01e45a9e48a977eda.pt",
+      "normalized_text": "Secure the light brown roller with both arms.",
+      "raw_texts": [
+        "Secure the light brown roller with both arms."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "0af54ba86a12a3dc164d21dd67098fd0879768d7",
+      "file": "0af54ba86a12a3dc164d21dd67098fd0879768d7.pt",
+      "normalized_text": "Grasp the smooth light brown roller on the table with arms.",
+      "raw_texts": [
+        "Grasp the smooth light brown roller on the table with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "0b291edb361edd9899fe0dce845374accf9b055e",
+      "file": "0b291edb361edd9899fe0dce845374accf9b055e.pt",
+      "normalized_text": "Take both arms to grasp the wooden rolling tool.",
+      "raw_texts": [
+        "Take both arms to grasp the wooden rolling tool."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "0b936bbce48680e37e4ec60c0fccc1a913adb3f0",
+      "file": "0b936bbce48680e37e4ec60c0fccc1a913adb3f0.pt",
+      "normalized_text": "Pick up the narrow tapered roller from the table.",
+      "raw_texts": [
+        "Pick up the narrow tapered roller from the table."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "0e0829947ac5124bfb3e0eb053699314582471ff",
+      "file": "0e0829947ac5124bfb3e0eb053699314582471ff.pt",
+      "normalized_text": "Both arms should grab the palm-sized roller now.",
+      "raw_texts": [
+        "Both arms should grab the palm-sized roller now."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "0eb816355aefcd8dcad1903a311d4e8cf91835dc",
+      "file": "0eb816355aefcd8dcad1903a311d4e8cf91835dc.pt",
+      "normalized_text": "Lift the wooden rolling tool off the table with arms.",
+      "raw_texts": [
+        "Lift the wooden rolling tool off the table with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "0fa45b9fcb1d5002ad118a9b52ba6739a03587f4",
+      "file": "0fa45b9fcb1d5002ad118a9b52ba6739a03587f4.pt",
+      "normalized_text": "Securely grab the wooden rolling tool using both arms.",
+      "raw_texts": [
+        "Securely grab the wooden rolling tool using both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "0fc95b621faf0597e9fa13f8c46d13438400d3b1",
+      "file": "0fc95b621faf0597e9fa13f8c46d13438400d3b1.pt",
+      "normalized_text": "Securely grab the medium roller with narrower tips using both arms.",
+      "raw_texts": [
+        "Securely grab the medium roller with narrower tips using both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "0fe47799b3661a5672f324a5e5e4be12364a6c5f",
+      "file": "0fe47799b3661a5672f324a5e5e4be12364a6c5f.pt",
+      "normalized_text": "Reach for the roller with smooth and shiny texture and hold it firmly",
+      "raw_texts": [
+        "Reach for the roller with smooth and shiny texture and hold it firmly"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "0ff0db9c7d5de46c9c60a6df8bb86812b770af43",
+      "file": "0ff0db9c7d5de46c9c60a6df8bb86812b770af43.pt",
+      "normalized_text": "Grasp the slim wooden roller firmly with arms.",
+      "raw_texts": [
+        "Grasp the slim wooden roller firmly with arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "10496d7e66caa64a0e61bf2b6f024850f9548372",
+      "file": "10496d7e66caa64a0e61bf2b6f024850f9548372.pt",
+      "normalized_text": "Take both arms to grasp the roller shaped like cylinder.",
+      "raw_texts": [
+        "Take both arms to grasp the roller shaped like cylinder."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1194cebf1275224dd62d7be8e0d4a491e4d5abbf",
+      "file": "1194cebf1275224dd62d7be8e0d4a491e4d5abbf.pt",
+      "normalized_text": "Reach for the wooden rolling tool and hold it firmly",
+      "raw_texts": [
+        "Reach for the wooden rolling tool and hold it firmly"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "13186fd46e055dda20ab644c16eadb1a5992c662",
+      "file": "13186fd46e055dda20ab644c16eadb1a5992c662.pt",
+      "normalized_text": "Get hold of the cylindrical roller with tapered ends using your arms",
+      "raw_texts": [
+        "Get hold of the cylindrical roller with tapered ends using your arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "13298c3ddc2e65203380dcc62b1062aa7e739444",
+      "file": "13298c3ddc2e65203380dcc62b1062aa7e739444.pt",
+      "normalized_text": "Grasp the cylindrical roller with tapered ends firmly with arms.",
+      "raw_texts": [
+        "Grasp the cylindrical roller with tapered ends firmly with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1370b78598ea20ef38ae9b3196ebb42b8c075a2b",
+      "file": "1370b78598ea20ef38ae9b3196ebb42b8c075a2b.pt",
+      "normalized_text": "Grasp the wood roller firmly with arms.",
+      "raw_texts": [
+        "Grasp the wood roller firmly with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "14075e887e2131357f1cf63817bb6734e2d165b7",
+      "file": "14075e887e2131357f1cf63817bb6734e2d165b7.pt",
+      "normalized_text": "Secure the light brown roller using your arms.",
+      "raw_texts": [
+        "Secure the light brown roller using your arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "149caf99499161454c4aa0b746467e2cb2e5c359",
+      "file": "149caf99499161454c4aa0b746467e2cb2e5c359.pt",
+      "normalized_text": "Use arms to firmly grab the light wood roller.",
+      "raw_texts": [
+        "Use arms to firmly grab the light wood roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "14eafce94e6b83e4e28f5e52447cdbc14dc2125f",
+      "file": "14eafce94e6b83e4e28f5e52447cdbc14dc2125f.pt",
+      "normalized_text": "Grasp the long slim roller firmly from the table.",
+      "raw_texts": [
+        "Grasp the long slim roller firmly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "157eb4f0f75857c9aeefa8f230dd785b21f77c31",
+      "file": "157eb4f0f75857c9aeefa8f230dd785b21f77c31.pt",
+      "normalized_text": "Take hold of the palm-length roller with both arms.",
+      "raw_texts": [
+        "Take hold of the palm-length roller with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "169eaba00fe3a2afd7197e95e49b92a6af5e463f",
+      "file": "169eaba00fe3a2afd7197e95e49b92a6af5e463f.pt",
+      "normalized_text": "Lift the roller with polished surface from the table.",
+      "raw_texts": [
+        "Lift the roller with polished surface from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1783d33fa6d3997277abf6a5d17b87402437b77f",
+      "file": "1783d33fa6d3997277abf6a5d17b87402437b77f.pt",
+      "normalized_text": "Grasp the smooth cylindrical roller firmly with arms.",
+      "raw_texts": [
+        "Grasp the smooth cylindrical roller firmly with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "18a048cc90551eea30bf758b891a629e6843f3dd",
+      "file": "18a048cc90551eea30bf758b891a629e6843f3dd.pt",
+      "normalized_text": "Secure the narrow tapered roller on the table using arms.",
+      "raw_texts": [
+        "Secure the narrow tapered roller on the table using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "196dec7279652a9f21be6d88fd873dd8b9e8da23",
+      "file": "196dec7279652a9f21be6d88fd873dd8b9e8da23.pt",
+      "normalized_text": "Firmly grab the wooden rolling tool using arms.",
+      "raw_texts": [
+        "Firmly grab the wooden rolling tool using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1997f6d7dd4cf7bf18f8486b5a2a026a92a076cf",
+      "file": "1997f6d7dd4cf7bf18f8486b5a2a026a92a076cf.pt",
+      "normalized_text": "Securely grab the light brown wooden roller using both arms.",
+      "raw_texts": [
+        "Securely grab the light brown wooden roller using both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1a1f0506e957e7718965ca13de806a2d5b77d2af",
+      "file": "1a1f0506e957e7718965ca13de806a2d5b77d2af.pt",
+      "normalized_text": "Hold the light wood roller from the table.",
+      "raw_texts": [
+        "Hold the light wood roller from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1b9b43ba8908161025e51a611096e375178e7469",
+      "file": "1b9b43ba8908161025e51a611096e375178e7469.pt",
+      "normalized_text": "Grasp the light wood roller on the table with arms.",
+      "raw_texts": [
+        "Grasp the light wood roller on the table with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1be88e8a50000fe6ca612596c3104df8314fdb9c",
+      "file": "1be88e8a50000fe6ca612596c3104df8314fdb9c.pt",
+      "normalized_text": "Pick up the palm-sized roller from the table.",
+      "raw_texts": [
+        "Pick up the palm-sized roller from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1c1b19511a2b9a4111edc1d75151c59fc1febd4c",
+      "file": "1c1b19511a2b9a4111edc1d75151c59fc1febd4c.pt",
+      "normalized_text": "Pick up the roller with polished surface from the table.",
+      "raw_texts": [
+        "Pick up the roller with polished surface from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1cc811125cc176a2e3bed8db9ffee110613bf9a3",
+      "file": "1cc811125cc176a2e3bed8db9ffee110613bf9a3.pt",
+      "normalized_text": "Lift the light brown wooden roller off the table with both arms",
+      "raw_texts": [
+        "Lift the light brown wooden roller off the table with both arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1d5d1ad8dcd4fb84c131b2695b472a6b9a0500a1",
+      "file": "1d5d1ad8dcd4fb84c131b2695b472a6b9a0500a1.pt",
+      "normalized_text": "Firmly grab the cylindrical roller with tapered ends using arms.",
+      "raw_texts": [
+        "Firmly grab the cylindrical roller with tapered ends using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1d5d985d45de1983730c4e0e9ce1243897f5d655",
+      "file": "1d5d985d45de1983730c4e0e9ce1243897f5d655.pt",
+      "normalized_text": "Use both arms to grab the cylindrical roller with tapered ends.",
+      "raw_texts": [
+        "Use both arms to grab the cylindrical roller with tapered ends."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1d719bf697a7ba43691155d4a2a45ae0b3f99bdb",
+      "file": "1d719bf697a7ba43691155d4a2a45ae0b3f99bdb.pt",
+      "normalized_text": "Securely grab the cylindrical roller with tapered ends using both arms.",
+      "raw_texts": [
+        "Securely grab the cylindrical roller with tapered ends using both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1d8ec1b63f1c1ad52de0f5c378d3e22b6f1c7660",
+      "file": "1d8ec1b63f1c1ad52de0f5c378d3e22b6f1c7660.pt",
+      "normalized_text": "Bring both arms to grab the palm-length roller.",
+      "raw_texts": [
+        "Bring both arms to grab the palm-length roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1dc01855237733ab54f6fc761f8a74ef24037aa8",
+      "file": "1dc01855237733ab54f6fc761f8a74ef24037aa8.pt",
+      "normalized_text": "Use arms to firmly grab the narrow tapered roller.",
+      "raw_texts": [
+        "Use arms to firmly grab the narrow tapered roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1e0cce5ab242d1b5e3370cb405e67b99bc642dbf",
+      "file": "1e0cce5ab242d1b5e3370cb405e67b99bc642dbf.pt",
+      "normalized_text": "Hold the roller for rolling firmly from the table.",
+      "raw_texts": [
+        "Hold the roller for rolling firmly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1e39e1b40f0e06752b19ed389154ce81f58b59a4",
+      "file": "1e39e1b40f0e06752b19ed389154ce81f58b59a4.pt",
+      "normalized_text": "Grasp the wooden rolling tool firmly with arms.",
+      "raw_texts": [
+        "Grasp the wooden rolling tool firmly with arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "1e47ed5e23c8fd59ce3c54f06afb80ff9cea0c25",
+      "file": "1e47ed5e23c8fd59ce3c54f06afb80ff9cea0c25.pt",
+      "normalized_text": "Pick up the light wood roller from the table directly.",
+      "raw_texts": [
+        "Pick up the light wood roller from the table directly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1e8924b193ae2bd06d0913230ad81c2a00440537",
+      "file": "1e8924b193ae2bd06d0913230ad81c2a00440537.pt",
+      "normalized_text": "Grab the wood roller placed on the table.",
+      "raw_texts": [
+        "Grab the wood roller placed on the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "1ec201be4cf6001f4c62193e5ed872c51e87e382",
+      "file": "1ec201be4cf6001f4c62193e5ed872c51e87e382.pt",
+      "normalized_text": "Lift the long slim roller from the table.",
+      "raw_texts": [
+        "Lift the long slim roller from the table."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "21381c516ea5d8859778a66ff82910cb34d2520c",
+      "file": "21381c516ea5d8859778a66ff82910cb34d2520c.pt",
+      "normalized_text": "Take hold of the brown roller with arms.",
+      "raw_texts": [
+        "Take hold of the brown roller with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "2151b2b4262a209d01b7dba1f80f64d18508e5e3",
+      "file": "2151b2b4262a209d01b7dba1f80f64d18508e5e3.pt",
+      "normalized_text": "Pick up the roller with smooth and shiny texture from the table.",
+      "raw_texts": [
+        "Pick up the roller with smooth and shiny texture from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "21ef5d1a4be30781748a18f4c8afe430ed09c14e",
+      "file": "21ef5d1a4be30781748a18f4c8afe430ed09c14e.pt",
+      "normalized_text": "Lift the light wood roller from the table carefully.",
+      "raw_texts": [
+        "Lift the light wood roller from the table carefully."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "21f34ee307c02b698888724e95621fce8a927585",
+      "file": "21f34ee307c02b698888724e95621fce8a927585.pt",
+      "normalized_text": "Use both arms to grip the cylindrical roller tightly.",
+      "raw_texts": [
+        "Use both arms to grip the cylindrical roller tightly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "233fa2bc9dcc8e60d0d8288e0d37a5f6738e31bd",
+      "file": "233fa2bc9dcc8e60d0d8288e0d37a5f6738e31bd.pt",
+      "normalized_text": "Use arms to firmly grab the roller shaped like cylinder.",
+      "raw_texts": [
+        "Use arms to firmly grab the roller shaped like cylinder."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "236ff003c414aeb0bd9f8d87ce5b63fd101d581f",
+      "file": "236ff003c414aeb0bd9f8d87ce5b63fd101d581f.pt",
+      "normalized_text": "Lift the roller with smooth texture with your arms.",
+      "raw_texts": [
+        "Lift the roller with smooth texture with your arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "2460322fbf40a719c991bb10543fe4ed218e96ba",
+      "file": "2460322fbf40a719c991bb10543fe4ed218e96ba.pt",
+      "normalized_text": "Hold the wood roller with both arms to pick it up",
+      "raw_texts": [
+        "Hold the wood roller with both arms to pick it up"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "2492881a766727aea9de144b03cfd1c39e0ad918",
+      "file": "2492881a766727aea9de144b03cfd1c39e0ad918.pt",
+      "normalized_text": "Bring both arms to grab the roller for smoothing materials.",
+      "raw_texts": [
+        "Bring both arms to grab the roller for smoothing materials."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "24adf7cc230f2e3aee72725492322b37c6093984",
+      "file": "24adf7cc230f2e3aee72725492322b37c6093984.pt",
+      "normalized_text": "Lift the smooth light brown roller from the table carefully.",
+      "raw_texts": [
+        "Lift the smooth light brown roller from the table carefully."
+      ],
+      "num_links": 4
+    },
+    {
+      "key": "2558f91994e5e4441bd6e096a77747bd6e5232dd",
+      "file": "2558f91994e5e4441bd6e096a77747bd6e5232dd.pt",
+      "normalized_text": "Grasp the light wood roller on the table.",
+      "raw_texts": [
+        "Grasp the light wood roller on the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "25987fd905ac661809ff7a644c861d9491b04a79",
+      "file": "25987fd905ac661809ff7a644c861d9491b04a79.pt",
+      "normalized_text": "Use arms to hold the palm-sized roller tightly.",
+      "raw_texts": [
+        "Use arms to hold the palm-sized roller tightly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "2649b953dddb0fa23a5fe7370c5994637b5651cb",
+      "file": "2649b953dddb0fa23a5fe7370c5994637b5651cb.pt",
+      "normalized_text": "Lift the roller with smooth texture from the table.",
+      "raw_texts": [
+        "Lift the roller with smooth texture from the table."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "26d7e52001c4c40e61f36d74311344c08029bc13",
+      "file": "26d7e52001c4c40e61f36d74311344c08029bc13.pt",
+      "normalized_text": "Take hold of the smooth cylindrical roller with arms.",
+      "raw_texts": [
+        "Take hold of the smooth cylindrical roller with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "2806155c59b16fdf9457d132523ee6065c9dcc52",
+      "file": "2806155c59b16fdf9457d132523ee6065c9dcc52.pt",
+      "normalized_text": "Secure the long slim roller on the table using arms.",
+      "raw_texts": [
+        "Secure the long slim roller on the table using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "284418be095601eae33bd60bc2980da11e4909b1",
+      "file": "284418be095601eae33bd60bc2980da11e4909b1.pt",
+      "normalized_text": "Reach for the light wood roller and hold it firmly",
+      "raw_texts": [
+        "Reach for the light wood roller and hold it firmly"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "28495306b23d9551c6fb55e898034c3dbd3ad5e2",
+      "file": "28495306b23d9551c6fb55e898034c3dbd3ad5e2.pt",
+      "normalized_text": "Use arms to hold the palm-length roller tightly.",
+      "raw_texts": [
+        "Use arms to hold the palm-length roller tightly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "28e5d4a157dd5d1fcdb5d3234609d4e18b6457e5",
+      "file": "28e5d4a157dd5d1fcdb5d3234609d4e18b6457e5.pt",
+      "normalized_text": "Secure the roller with smooth and shiny texture with both arms.",
+      "raw_texts": [
+        "Secure the roller with smooth and shiny texture with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "2a0d7552f39fb4e55ce4dd6b2eaf8a4e6b2a5e24",
+      "file": "2a0d7552f39fb4e55ce4dd6b2eaf8a4e6b2a5e24.pt",
+      "normalized_text": "Use arms to hold the smooth light brown roller tightly.",
+      "raw_texts": [
+        "Use arms to hold the smooth light brown roller tightly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "2a401b10c4dbbc2ee8458b9068f28211bdccf508",
+      "file": "2a401b10c4dbbc2ee8458b9068f28211bdccf508.pt",
+      "normalized_text": "Lift the medium-sized roller from its place on the table",
+      "raw_texts": [
+        "Lift the medium-sized roller from its place on the table"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "2b6139909b0180cff568cf7900ae8a1dd3844b41",
+      "file": "2b6139909b0180cff568cf7900ae8a1dd3844b41.pt",
+      "normalized_text": "Secure the narrow tapered roller from the table using arms",
+      "raw_texts": [
+        "Secure the narrow tapered roller from the table using arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "2b91c2269c4b2a096967403420d1506c33721ee7",
+      "file": "2b91c2269c4b2a096967403420d1506c33721ee7.pt",
+      "normalized_text": "Pick up the roller with smooth texture from the table.",
+      "raw_texts": [
+        "Pick up the roller with smooth texture from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "2ba99639f829f6c41312cd1636823f0b45d46156",
+      "file": "2ba99639f829f6c41312cd1636823f0b45d46156.pt",
+      "normalized_text": "Use arms to firmly grab the palm-sized roller.",
+      "raw_texts": [
+        "Use arms to firmly grab the palm-sized roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "2c2598f80f6dd9db3d3ddbb5fbe9423b3a3a99ea",
+      "file": "2c2598f80f6dd9db3d3ddbb5fbe9423b3a3a99ea.pt",
+      "normalized_text": "Lift the palm-length roller with your arms.",
+      "raw_texts": [
+        "Lift the palm-length roller with your arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "2c93b46c2dd4ef6bf6fd80a4aed012618e544f75",
+      "file": "2c93b46c2dd4ef6bf6fd80a4aed012618e544f75.pt",
+      "normalized_text": "Secure the wooden rolling tool from the table using arms",
+      "raw_texts": [
+        "Secure the wooden rolling tool from the table using arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "2eaa2076e89762b506f5ddf944c824751ce2fccf",
+      "file": "2eaa2076e89762b506f5ddf944c824751ce2fccf.pt",
+      "normalized_text": "Hold the wood roller firmly from the table.",
+      "raw_texts": [
+        "Hold the wood roller firmly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "2ebbe53ba5938684c0df0d132b843dc0c553b413",
+      "file": "2ebbe53ba5938684c0df0d132b843dc0c553b413.pt",
+      "normalized_text": "Reach out to grab the palm-length roller from the table",
+      "raw_texts": [
+        "Reach out to grab the palm-length roller from the table"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "2eea9402f55371f02c0f2039976325d681095b81",
+      "file": "2eea9402f55371f02c0f2039976325d681095b81.pt",
+      "normalized_text": "Pick up the palm-sized roller using both arms.",
+      "raw_texts": [
+        "Pick up the palm-sized roller using both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "2f5eab63de110387a1e255130396af194009d734",
+      "file": "2f5eab63de110387a1e255130396af194009d734.pt",
+      "normalized_text": "Hold the slim wooden roller from the table.",
+      "raw_texts": [
+        "Hold the slim wooden roller from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "2f6df2f82464dd25d9e3b60aaa60f4284752d1f1",
+      "file": "2f6df2f82464dd25d9e3b60aaa60f4284752d1f1.pt",
+      "normalized_text": "Pick up the brown roller from the table directly.",
+      "raw_texts": [
+        "Pick up the brown roller from the table directly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "302113b804659338a19f56ca001951f4e9cda04a",
+      "file": "302113b804659338a19f56ca001951f4e9cda04a.pt",
+      "normalized_text": "Lift the medium roller with narrower tips from its place on the table",
+      "raw_texts": [
+        "Lift the medium roller with narrower tips from its place on the table"
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "3088d2a2b4ea5898f6fac49c4294962de806146c",
+      "file": "3088d2a2b4ea5898f6fac49c4294962de806146c.pt",
+      "normalized_text": "Firmly grab the solid wood roller using arms.",
+      "raw_texts": [
+        "Firmly grab the solid wood roller using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "3135103e9eb0d20daaabfb76c7e8744826a6149d",
+      "file": "3135103e9eb0d20daaabfb76c7e8744826a6149d.pt",
+      "normalized_text": "Lift the light wood roller from the table.",
+      "raw_texts": [
+        "Lift the light wood roller from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "320321c343a83623a6e4a7413c82f6ffc3c92477",
+      "file": "320321c343a83623a6e4a7413c82f6ffc3c92477.pt",
+      "normalized_text": "Secure the slim wooden roller on the table using arms.",
+      "raw_texts": [
+        "Secure the slim wooden roller on the table using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "333e9bebac41541f48144afdfc899cfee3d6a36b",
+      "file": "333e9bebac41541f48144afdfc899cfee3d6a36b.pt",
+      "normalized_text": "Pick up the solid wood roller from the table.",
+      "raw_texts": [
+        "Pick up the solid wood roller from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "3450ec0393eb205a8eb0140adf59357191fac0af",
+      "file": "3450ec0393eb205a8eb0140adf59357191fac0af.pt",
+      "normalized_text": "Reach for the smooth cylindrical roller and hold it firmly",
+      "raw_texts": [
+        "Reach for the smooth cylindrical roller and hold it firmly"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "34b3cb50022a35ea5826773822414744e35ea0e6",
+      "file": "34b3cb50022a35ea5826773822414744e35ea0e6.pt",
+      "normalized_text": "Hold the palm-sized roller on the table with hands.",
+      "raw_texts": [
+        "Hold the palm-sized roller on the table with hands."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "34e4220e1d5e6d90ae855c06f2f11214ea81e540",
+      "file": "34e4220e1d5e6d90ae855c06f2f11214ea81e540.pt",
+      "normalized_text": "Lift the roller with smooth and shiny texture from the table.",
+      "raw_texts": [
+        "Lift the roller with smooth and shiny texture from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "351ef4033d9a41ef248987431c9e77d4ce1869bf",
+      "file": "351ef4033d9a41ef248987431c9e77d4ce1869bf.pt",
+      "normalized_text": "Secure the light brown wooden roller on the table using arms.",
+      "raw_texts": [
+        "Secure the light brown wooden roller on the table using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "36903c1c63b52ea6b1af1bf3b8aaea68f18d6df2",
+      "file": "36903c1c63b52ea6b1af1bf3b8aaea68f18d6df2.pt",
+      "normalized_text": "Secure the wooden rolling tool on the table using arms.",
+      "raw_texts": [
+        "Secure the wooden rolling tool on the table using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "386063e4831bcdc86434e1dce94785dcf2b04209",
+      "file": "386063e4831bcdc86434e1dce94785dcf2b04209.pt",
+      "normalized_text": "Take both arms to grasp the solid wood roller.",
+      "raw_texts": [
+        "Take both arms to grasp the solid wood roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "38888fa8343b14e600980d327de738063fad29ad",
+      "file": "38888fa8343b14e600980d327de738063fad29ad.pt",
+      "normalized_text": "Lift the roller for smoothing materials from the table carefully.",
+      "raw_texts": [
+        "Lift the roller for smoothing materials from the table carefully."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "395a516671a3c452ef1f1c22d658a7909570be4a",
+      "file": "395a516671a3c452ef1f1c22d658a7909570be4a.pt",
+      "normalized_text": "Reach out to grab the medium-sized roller from the table",
+      "raw_texts": [
+        "Reach out to grab the medium-sized roller from the table"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "3a0b797f111be5301319d194a29c4917125c99e3",
+      "file": "3a0b797f111be5301319d194a29c4917125c99e3.pt",
+      "normalized_text": "Firmly grab the medium roller with narrower tips using arms.",
+      "raw_texts": [
+        "Firmly grab the medium roller with narrower tips using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "3afe6285c700ce6151a65987f4266d89e00c2c5c",
+      "file": "3afe6285c700ce6151a65987f4266d89e00c2c5c.pt",
+      "normalized_text": "Pick up the roller with smooth and shiny texture from the table directly.",
+      "raw_texts": [
+        "Pick up the roller with smooth and shiny texture from the table directly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "3b5944bfedc0fce633425a87cb995154269ee9be",
+      "file": "3b5944bfedc0fce633425a87cb995154269ee9be.pt",
+      "normalized_text": "Grasp the cylindrical roller with tapered ends on the table with arms.",
+      "raw_texts": [
+        "Grasp the cylindrical roller with tapered ends on the table with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "3b95d223e26bb61eebbdd9ab71aed7265f7541fc",
+      "file": "3b95d223e26bb61eebbdd9ab71aed7265f7541fc.pt",
+      "normalized_text": "Firmly grab the slim wooden roller using arms.",
+      "raw_texts": [
+        "Firmly grab the slim wooden roller using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "3baf8e9db76a1eb24fe6241785e707e938eba8cc",
+      "file": "3baf8e9db76a1eb24fe6241785e707e938eba8cc.pt",
+      "normalized_text": "Lift the medium roller with narrower tips with your arms.",
+      "raw_texts": [
+        "Lift the medium roller with narrower tips with your arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "3bdd90bc55e02b5ad4dc94a839b40e71653a18b8",
+      "file": "3bdd90bc55e02b5ad4dc94a839b40e71653a18b8.pt",
+      "normalized_text": "Pick up the long slim roller using both arms.",
+      "raw_texts": [
+        "Pick up the long slim roller using both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "3e6644fcda8654284b494258f41239b75f71757d",
+      "file": "3e6644fcda8654284b494258f41239b75f71757d.pt",
+      "normalized_text": "Use arms to hold the narrow tapered roller tightly.",
+      "raw_texts": [
+        "Use arms to hold the narrow tapered roller tightly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "3fdc152a306ecb4401483ac6adeb508482b3758c",
+      "file": "3fdc152a306ecb4401483ac6adeb508482b3758c.pt",
+      "normalized_text": "Take hold of the slim wooden roller using your arms.",
+      "raw_texts": [
+        "Take hold of the slim wooden roller using your arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "402a7e16eb5abf5d272f60379b05551f9274a67a",
+      "file": "402a7e16eb5abf5d272f60379b05551f9274a67a.pt",
+      "normalized_text": "Grab the cylindrical roller with tapered ends placed on the table.",
+      "raw_texts": [
+        "Grab the cylindrical roller with tapered ends placed on the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "4162ad68f4ff3713396f6595d51f10d0a4347517",
+      "file": "4162ad68f4ff3713396f6595d51f10d0a4347517.pt",
+      "normalized_text": "Hold the roller with polished surface on the table with hands.",
+      "raw_texts": [
+        "Hold the roller with polished surface on the table with hands."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "41b0771a4dc8cdc2f834801ec322e33cbed82f4d",
+      "file": "41b0771a4dc8cdc2f834801ec322e33cbed82f4d.pt",
+      "normalized_text": "Take hold of the slim wooden roller.",
+      "raw_texts": [
+        "Take hold of the slim wooden roller."
+      ],
+      "num_links": 4
+    },
+    {
+      "key": "41b7e8cf492c1e086724d7a03971dc697de95a61",
+      "file": "41b7e8cf492c1e086724d7a03971dc697de95a61.pt",
+      "normalized_text": "Pick up the light wood roller using both arms.",
+      "raw_texts": [
+        "Pick up the light wood roller using both arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "42b9c36ccc555ad0326e5b50816805656e53d82d",
+      "file": "42b9c36ccc555ad0326e5b50816805656e53d82d.pt",
+      "normalized_text": "Hold the wooden rolling tool from the table.",
+      "raw_texts": [
+        "Hold the wooden rolling tool from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "430e95ea8396a372855c184d0dc3601cf6d560bb",
+      "file": "430e95ea8396a372855c184d0dc3601cf6d560bb.pt",
+      "normalized_text": "Bring both arms to grab the roller for rolling.",
+      "raw_texts": [
+        "Bring both arms to grab the roller for rolling."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "43a7ef42fe1fdab35f212b3c0d541dd342623dc7",
+      "file": "43a7ef42fe1fdab35f212b3c0d541dd342623dc7.pt",
+      "normalized_text": "Take hold of the medium-sized roller using your arms.",
+      "raw_texts": [
+        "Take hold of the medium-sized roller using your arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "43e4ac8f2e3b5f4072ade3d55e81a5c6fc1a13d2",
+      "file": "43e4ac8f2e3b5f4072ade3d55e81a5c6fc1a13d2.pt",
+      "normalized_text": "Bring both arms to grab the slim wooden roller.",
+      "raw_texts": [
+        "Bring both arms to grab the slim wooden roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "44995a0d85be7765d9d86b19fbaeed7806ccbf38",
+      "file": "44995a0d85be7765d9d86b19fbaeed7806ccbf38.pt",
+      "normalized_text": "Grab the narrow tapered roller placed on the table.",
+      "raw_texts": [
+        "Grab the narrow tapered roller placed on the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "449ed863700b31726d828c56ea69bd0a4702a48f",
+      "file": "449ed863700b31726d828c56ea69bd0a4702a48f.pt",
+      "normalized_text": "Reach for the cylindrical roller and grab it firmly.",
+      "raw_texts": [
+        "Reach for the cylindrical roller and grab it firmly."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "45c66157695d8eb9b0c8994edb237edc7959bcbe",
+      "file": "45c66157695d8eb9b0c8994edb237edc7959bcbe.pt",
+      "normalized_text": "Lift the light brown roller off the table with both arms",
+      "raw_texts": [
+        "Lift the light brown roller off the table with both arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "477735a80d1b3e107e1e539a9463199b73cca609",
+      "file": "477735a80d1b3e107e1e539a9463199b73cca609.pt",
+      "normalized_text": "Grip the wooden rolling tool firmly with arms.",
+      "raw_texts": [
+        "Grip the wooden rolling tool firmly with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "477dee5e591b3cb89a3acf300db4ff40980b9171",
+      "file": "477dee5e591b3cb89a3acf300db4ff40980b9171.pt",
+      "normalized_text": "Grip the smooth light brown roller firmly with arms.",
+      "raw_texts": [
+        "Grip the smooth light brown roller firmly with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "480ee07b61aa890d10f1feac74e4d1edeb120a2e",
+      "file": "480ee07b61aa890d10f1feac74e4d1edeb120a2e.pt",
+      "normalized_text": "Firmly grab the palm-length roller using arms.",
+      "raw_texts": [
+        "Firmly grab the palm-length roller using arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "48e337ec8625268fa323ad3c67380a8acb9d8b8e",
+      "file": "48e337ec8625268fa323ad3c67380a8acb9d8b8e.pt",
+      "normalized_text": "Grasp the cylindrical roller with tapered ends on the table.",
+      "raw_texts": [
+        "Grasp the cylindrical roller with tapered ends on the table."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "4912d26a3b4c0a46e520f4e3f996b33971782490",
+      "file": "4912d26a3b4c0a46e520f4e3f996b33971782490.pt",
+      "normalized_text": "Hold the medium roller with narrower tips with both arms to pick it up",
+      "raw_texts": [
+        "Hold the medium roller with narrower tips with both arms to pick it up"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "497bbce6efdeb44bc11854636821bc3090bfcfc0",
+      "file": "497bbce6efdeb44bc11854636821bc3090bfcfc0.pt",
+      "normalized_text": "Use both arms to grip the medium roller with narrower tips tightly.",
+      "raw_texts": [
+        "Use both arms to grip the medium roller with narrower tips tightly."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "4b6f9b4d14c386c2a8f6e93a85bd1462d7b396c0",
+      "file": "4b6f9b4d14c386c2a8f6e93a85bd1462d7b396c0.pt",
+      "normalized_text": "Secure the palm-length roller on the table using arms.",
+      "raw_texts": [
+        "Secure the palm-length roller on the table using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "4b74b07806046b527f023aa23b138119035f60ef",
+      "file": "4b74b07806046b527f023aa23b138119035f60ef.pt",
+      "normalized_text": "Grip the narrow tapered roller firmly with arms.",
+      "raw_texts": [
+        "Grip the narrow tapered roller firmly with arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "4b8bb53a0848167e05566e2f74d95f9564b56551",
+      "file": "4b8bb53a0848167e05566e2f74d95f9564b56551.pt",
+      "normalized_text": "Secure the roller with polished surface from the table using arms",
+      "raw_texts": [
+        "Secure the roller with polished surface from the table using arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "4c19969293633f2028f6b85a9f918ab92760aee1",
+      "file": "4c19969293633f2028f6b85a9f918ab92760aee1.pt",
+      "normalized_text": "Securely grab the roller for rolling using both arms.",
+      "raw_texts": [
+        "Securely grab the roller for rolling using both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "4d58692bacbef84d31b296c60a6b76f0e11cee81",
+      "file": "4d58692bacbef84d31b296c60a6b76f0e11cee81.pt",
+      "normalized_text": "Pick up the slim wooden roller using both arms.",
+      "raw_texts": [
+        "Pick up the slim wooden roller using both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "4fab63f4b47baa5d716f432b24eb0e3fa2a7aa2b",
+      "file": "4fab63f4b47baa5d716f432b24eb0e3fa2a7aa2b.pt",
+      "normalized_text": "Take hold of the roller with smooth texture with both arms.",
+      "raw_texts": [
+        "Take hold of the roller with smooth texture with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "4fe242c4db9ce3135ad48e539ade74d5d3a07cf9",
+      "file": "4fe242c4db9ce3135ad48e539ade74d5d3a07cf9.pt",
+      "normalized_text": "Hold the roller for smoothing materials from the table.",
+      "raw_texts": [
+        "Hold the roller for smoothing materials from the table."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "50498539038611a0f4eb9a8b588a300c86c5d609",
+      "file": "50498539038611a0f4eb9a8b588a300c86c5d609.pt",
+      "normalized_text": "Take hold of the roller shaped like cylinder with arms.",
+      "raw_texts": [
+        "Take hold of the roller shaped like cylinder with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "506722cfc75e2830c321595f5901b205b20d11a3",
+      "file": "506722cfc75e2830c321595f5901b205b20d11a3.pt",
+      "normalized_text": "Reach for the smooth light brown roller and hold it firmly",
+      "raw_texts": [
+        "Reach for the smooth light brown roller and hold it firmly"
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "513f1e8b1af9c1cc08ad8ffcbe845c2d18903186",
+      "file": "513f1e8b1af9c1cc08ad8ffcbe845c2d18903186.pt",
+      "normalized_text": "Take hold of the cylindrical roller with arms.",
+      "raw_texts": [
+        "Take hold of the cylindrical roller with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "519f854f9146bbc864644bb6e3bff57cd12fa474",
+      "file": "519f854f9146bbc864644bb6e3bff57cd12fa474.pt",
+      "normalized_text": "Lift the light brown wooden roller from the table carefully.",
+      "raw_texts": [
+        "Lift the light brown wooden roller from the table carefully."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "5244924e457f795cc39bda425e74a1f369a30567",
+      "file": "5244924e457f795cc39bda425e74a1f369a30567.pt",
+      "normalized_text": "Secure the smooth light brown roller using your arms.",
+      "raw_texts": [
+        "Secure the smooth light brown roller using your arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "52a0cc69a5aeefc3042300aece81168fd3ce3648",
+      "file": "52a0cc69a5aeefc3042300aece81168fd3ce3648.pt",
+      "normalized_text": "Secure the palm-sized roller with both arms.",
+      "raw_texts": [
+        "Secure the palm-sized roller with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "541d7c96f90253b57281638ec8d66135132a3eba",
+      "file": "541d7c96f90253b57281638ec8d66135132a3eba.pt",
+      "normalized_text": "Hold the roller for rolling from the table.",
+      "raw_texts": [
+        "Hold the roller for rolling from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "5465bcf9fc2dfc914c080ea8d3a760faa4e05676",
+      "file": "5465bcf9fc2dfc914c080ea8d3a760faa4e05676.pt",
+      "normalized_text": "Pick up the palm-length roller using both arms equally",
+      "raw_texts": [
+        "Pick up the palm-length roller using both arms equally"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "54c76dda07cf8a329068b0f321d6cc3aa0c225f2",
+      "file": "54c76dda07cf8a329068b0f321d6cc3aa0c225f2.pt",
+      "normalized_text": "Reach for the solid wood roller and hold it firmly",
+      "raw_texts": [
+        "Reach for the solid wood roller and hold it firmly"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "54e20dfd9c7fbde551dee9bdcba14dc80abdfda8",
+      "file": "54e20dfd9c7fbde551dee9bdcba14dc80abdfda8.pt",
+      "normalized_text": "Lift the roller shaped like cylinder from the table.",
+      "raw_texts": [
+        "Lift the roller shaped like cylinder from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "5596cc83e9cbaa32ca1ade0e9de762555ec7bd3b",
+      "file": "5596cc83e9cbaa32ca1ade0e9de762555ec7bd3b.pt",
+      "normalized_text": "Secure the cylindrical roller with both arms.",
+      "raw_texts": [
+        "Secure the cylindrical roller with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "55e1634da4cdb25572b33f75de69dd8e4e051118",
+      "file": "55e1634da4cdb25572b33f75de69dd8e4e051118.pt",
+      "normalized_text": "Grasp the medium-sized roller on the table with arms.",
+      "raw_texts": [
+        "Grasp the medium-sized roller on the table with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "5694cee4adf380f28fe1da8b6c2b9fbf466b149b",
+      "file": "5694cee4adf380f28fe1da8b6c2b9fbf466b149b.pt",
+      "normalized_text": "Pick up the roller for smoothing materials using both arms.",
+      "raw_texts": [
+        "Pick up the roller for smoothing materials using both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "56b8cb71f53190a8377dbbdb07ba64325a7998aa",
+      "file": "56b8cb71f53190a8377dbbdb07ba64325a7998aa.pt",
+      "normalized_text": "Take the light brown roller directly from the table.",
+      "raw_texts": [
+        "Take the light brown roller directly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "5745f13e2bb5e713080180c3201976988ceb273d",
+      "file": "5745f13e2bb5e713080180c3201976988ceb273d.pt",
+      "normalized_text": "Secure the smooth light brown roller on the table using arms.",
+      "raw_texts": [
+        "Secure the smooth light brown roller on the table using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "57b540c03a0ff2a5e53f362ba8995a3581a63328",
+      "file": "57b540c03a0ff2a5e53f362ba8995a3581a63328.pt",
+      "normalized_text": "Grasp the solid wood roller firmly from the table.",
+      "raw_texts": [
+        "Grasp the solid wood roller firmly from the table."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "583141d856679d9ca5fdd14471fc67bb7e0e1ffb",
+      "file": "583141d856679d9ca5fdd14471fc67bb7e0e1ffb.pt",
+      "normalized_text": "Securely grab the long slim roller using both arms.",
+      "raw_texts": [
+        "Securely grab the long slim roller using both arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "587865c7e9e484a33cfccc8aa14521ff8a69051a",
+      "file": "587865c7e9e484a33cfccc8aa14521ff8a69051a.pt",
+      "normalized_text": "Use arms to hold the smooth cylindrical roller tightly.",
+      "raw_texts": [
+        "Use arms to hold the smooth cylindrical roller tightly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "589d559870b2ba62370852e7ccc4e0acde5de1c1",
+      "file": "589d559870b2ba62370852e7ccc4e0acde5de1c1.pt",
+      "normalized_text": "Take both arms to grasp the medium roller with narrower tips.",
+      "raw_texts": [
+        "Take both arms to grasp the medium roller with narrower tips."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "58a2e320a8dddd81eb0f04963f0ca53d72138a28",
+      "file": "58a2e320a8dddd81eb0f04963f0ca53d72138a28.pt",
+      "normalized_text": "Grasp the light wood roller firmly with arms.",
+      "raw_texts": [
+        "Grasp the light wood roller firmly with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "58c87cb9cca688bd1f6ffb06a58e2347c6ac076e",
+      "file": "58c87cb9cca688bd1f6ffb06a58e2347c6ac076e.pt",
+      "normalized_text": "Reach for the long slim roller and grab it firmly.",
+      "raw_texts": [
+        "Reach for the long slim roller and grab it firmly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "58d01e20f0025740c5ed0a42a0bede7f5801fc55",
+      "file": "58d01e20f0025740c5ed0a42a0bede7f5801fc55.pt",
+      "normalized_text": "Hold the solid wood roller firmly from the table.",
+      "raw_texts": [
+        "Hold the solid wood roller firmly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "590f70cd368d687b8b566b72acd91f7571aebec0",
+      "file": "590f70cd368d687b8b566b72acd91f7571aebec0.pt",
+      "normalized_text": "Take hold of the palm-sized roller with both arms.",
+      "raw_texts": [
+        "Take hold of the palm-sized roller with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "593998f03de5c55c0637c02261b966beb9518cd1",
+      "file": "593998f03de5c55c0637c02261b966beb9518cd1.pt",
+      "normalized_text": "Firmly grip the brown roller on the table now.",
+      "raw_texts": [
+        "Firmly grip the brown roller on the table now."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "595255a62a0b7e414433216964753020cb65ae89",
+      "file": "595255a62a0b7e414433216964753020cb65ae89.pt",
+      "normalized_text": "Both arms should grab the slim wooden roller now.",
+      "raw_texts": [
+        "Both arms should grab the slim wooden roller now."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "5bacb429d21533a018c030648c8ce9f82fbb1cf2",
+      "file": "5bacb429d21533a018c030648c8ce9f82fbb1cf2.pt",
+      "normalized_text": "Take hold of the roller with smooth texture.",
+      "raw_texts": [
+        "Take hold of the roller with smooth texture."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "5edf28603fbca0c9903c8ba8ede73f6e727b4b57",
+      "file": "5edf28603fbca0c9903c8ba8ede73f6e727b4b57.pt",
+      "normalized_text": "Take hold of the medium-sized roller with arms.",
+      "raw_texts": [
+        "Take hold of the medium-sized roller with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "5f943baaa99d7861610704f5296d71ed1da75a29",
+      "file": "5f943baaa99d7861610704f5296d71ed1da75a29.pt",
+      "normalized_text": "Use arms to firmly grab the wood roller.",
+      "raw_texts": [
+        "Use arms to firmly grab the wood roller."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "60a6507ae5089277a4b6d169439cfae42a87621a",
+      "file": "60a6507ae5089277a4b6d169439cfae42a87621a.pt",
+      "normalized_text": "Firmly grab the roller with smooth and shiny texture using arms.",
+      "raw_texts": [
+        "Firmly grab the roller with smooth and shiny texture using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "6189648924eba79ecc4f132ec5cf778b2237d6e0",
+      "file": "6189648924eba79ecc4f132ec5cf778b2237d6e0.pt",
+      "normalized_text": "Take hold of the solid wood roller with both arms.",
+      "raw_texts": [
+        "Take hold of the solid wood roller with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "619e7162005e28c85f6b851c937a4a95ac5ca06b",
+      "file": "619e7162005e28c85f6b851c937a4a95ac5ca06b.pt",
+      "normalized_text": "Secure the brown roller on the table using arms.",
+      "raw_texts": [
+        "Secure the brown roller on the table using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "61af4be6036bfb02029575f47d9db7f38ba89e21",
+      "file": "61af4be6036bfb02029575f47d9db7f38ba89e21.pt",
+      "normalized_text": "Pick up the smooth light brown roller from the table directly.",
+      "raw_texts": [
+        "Pick up the smooth light brown roller from the table directly."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "62945ff88c8c4a1bb5ce2bc855121177a8e2abd2",
+      "file": "62945ff88c8c4a1bb5ce2bc855121177a8e2abd2.pt",
+      "normalized_text": "Grab the long slim roller directly from the table.",
+      "raw_texts": [
+        "Grab the long slim roller directly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "62d60490671da3702e5f39eb523e5726efda4f73",
+      "file": "62d60490671da3702e5f39eb523e5726efda4f73.pt",
+      "normalized_text": "Take hold of the solid wood roller.",
+      "raw_texts": [
+        "Take hold of the solid wood roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "6327fce37392728dedd62b3bfd7ee04202a69dd9",
+      "file": "6327fce37392728dedd62b3bfd7ee04202a69dd9.pt",
+      "normalized_text": "Lift the brown roller off the table with arms.",
+      "raw_texts": [
+        "Lift the brown roller off the table with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "63898a3124ae78a95ffab129752fd8ea25305300",
+      "file": "63898a3124ae78a95ffab129752fd8ea25305300.pt",
+      "normalized_text": "Reach out to grab the roller with polished surface from the table",
+      "raw_texts": [
+        "Reach out to grab the roller with polished surface from the table"
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "644e995ec816aad40089814a586c3947721d2a22",
+      "file": "644e995ec816aad40089814a586c3947721d2a22.pt",
+      "normalized_text": "Use both arms to grab the narrow tapered roller.",
+      "raw_texts": [
+        "Use both arms to grab the narrow tapered roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "64503f0d04f9ef9821c30d0f6eec23d0e6797a32",
+      "file": "64503f0d04f9ef9821c30d0f6eec23d0e6797a32.pt",
+      "normalized_text": "Reach for the medium-sized roller and grab it firmly.",
+      "raw_texts": [
+        "Reach for the medium-sized roller and grab it firmly."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "653d37a54962e030a9bfd5b3cb8dfa567b96ba60",
+      "file": "653d37a54962e030a9bfd5b3cb8dfa567b96ba60.pt",
+      "normalized_text": "Grab the solid wood roller directly from the table.",
+      "raw_texts": [
+        "Grab the solid wood roller directly from the table."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "65797005354975e21fd3f9143d36205abbcd3d81",
+      "file": "65797005354975e21fd3f9143d36205abbcd3d81.pt",
+      "normalized_text": "Get hold of the wooden rolling tool using your arms",
+      "raw_texts": [
+        "Get hold of the wooden rolling tool using your arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "65806d0f4ffb15ad8e9bc96b785fcca6ab684025",
+      "file": "65806d0f4ffb15ad8e9bc96b785fcca6ab684025.pt",
+      "normalized_text": "Grasp the roller for rolling on the table.",
+      "raw_texts": [
+        "Grasp the roller for rolling on the table."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "66e613cf42d074c2870d51c573c28b42125a44d1",
+      "file": "66e613cf42d074c2870d51c573c28b42125a44d1.pt",
+      "normalized_text": "Use both arms to grab the roller with polished surface.",
+      "raw_texts": [
+        "Use both arms to grab the roller with polished surface."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "671c04dfac87ca557a23ad566b1df37179417b45",
+      "file": "671c04dfac87ca557a23ad566b1df37179417b45.pt",
+      "normalized_text": "Firmly grip the medium-sized roller on the table now.",
+      "raw_texts": [
+        "Firmly grip the medium-sized roller on the table now."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "67ac248e26d0b8c4edccd5cc5b5218fef6a46124",
+      "file": "67ac248e26d0b8c4edccd5cc5b5218fef6a46124.pt",
+      "normalized_text": "Hold the roller with smooth texture from the table.",
+      "raw_texts": [
+        "Hold the roller with smooth texture from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "6817e0a1e6fdbfe34d7925738b4c002801be8a7e",
+      "file": "6817e0a1e6fdbfe34d7925738b4c002801be8a7e.pt",
+      "normalized_text": "Bring both arms to grab the light brown wooden roller.",
+      "raw_texts": [
+        "Bring both arms to grab the light brown wooden roller."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "687f21b25bd5f7c41ee88810bbda19ab8899f11a",
+      "file": "687f21b25bd5f7c41ee88810bbda19ab8899f11a.pt",
+      "normalized_text": "Bring both arms to grab the smooth light brown roller.",
+      "raw_texts": [
+        "Bring both arms to grab the smooth light brown roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "6930d72e73cc2f0ade79c0b6b5d2fef984404c4e",
+      "file": "6930d72e73cc2f0ade79c0b6b5d2fef984404c4e.pt",
+      "normalized_text": "Pick up the cylindrical roller from the table.",
+      "raw_texts": [
+        "Pick up the cylindrical roller from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "69b82a584aca52b21f93932975ac621834c30d4a",
+      "file": "69b82a584aca52b21f93932975ac621834c30d4a.pt",
+      "normalized_text": "Take both arms to grasp the roller with smooth texture.",
+      "raw_texts": [
+        "Take both arms to grasp the roller with smooth texture."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "69dd2d26542d181e5ede3e08f93f2556079d57e5",
+      "file": "69dd2d26542d181e5ede3e08f93f2556079d57e5.pt",
+      "normalized_text": "Securely grab the light brown roller using both arms.",
+      "raw_texts": [
+        "Securely grab the light brown roller using both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "6a84656e31e6e48480505b75cf636f343eb82c33",
+      "file": "6a84656e31e6e48480505b75cf636f343eb82c33.pt",
+      "normalized_text": "Take hold of the narrow tapered roller.",
+      "raw_texts": [
+        "Take hold of the narrow tapered roller."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "6b0859c639800132cab60191c006a6e3548e3920",
+      "file": "6b0859c639800132cab60191c006a6e3548e3920.pt",
+      "normalized_text": "Firmly grip the light brown roller on the table now.",
+      "raw_texts": [
+        "Firmly grip the light brown roller on the table now."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "6c1540ed711ffd6b47aa0886937d664cbe3a4de1",
+      "file": "6c1540ed711ffd6b47aa0886937d664cbe3a4de1.pt",
+      "normalized_text": "Grasp the light wood roller firmly from the table.",
+      "raw_texts": [
+        "Grasp the light wood roller firmly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "6ccce79f7cb3c7c6adc2cd49c2edfcd3416e7b83",
+      "file": "6ccce79f7cb3c7c6adc2cd49c2edfcd3416e7b83.pt",
+      "normalized_text": "Hold the wooden rolling tool on the table with hands.",
+      "raw_texts": [
+        "Hold the wooden rolling tool on the table with hands."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "6db7525c6fb43449402aa1cbe5f4fb0145a8d8d0",
+      "file": "6db7525c6fb43449402aa1cbe5f4fb0145a8d8d0.pt",
+      "normalized_text": "Lift the cylindrical roller with tapered ends from the table carefully.",
+      "raw_texts": [
+        "Lift the cylindrical roller with tapered ends from the table carefully."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "6eb5d06b6dd9b9fae24e559e7ef30a45cac8b1d4",
+      "file": "6eb5d06b6dd9b9fae24e559e7ef30a45cac8b1d4.pt",
+      "normalized_text": "Bring both arms to grab the smooth cylindrical roller.",
+      "raw_texts": [
+        "Bring both arms to grab the smooth cylindrical roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "6f146ce51b102f682b160826f5886fa32eb9f1bb",
+      "file": "6f146ce51b102f682b160826f5886fa32eb9f1bb.pt",
+      "normalized_text": "Use arms to hold the roller for rolling tightly.",
+      "raw_texts": [
+        "Use arms to hold the roller for rolling tightly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "6f49fb0a573d7474193eb73f4cc2b0b34fa45860",
+      "file": "6f49fb0a573d7474193eb73f4cc2b0b34fa45860.pt",
+      "normalized_text": "Lift the medium roller with narrower tips from the table.",
+      "raw_texts": [
+        "Lift the medium roller with narrower tips from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "70dad25554d3fa128459faab97a447bb1c68355c",
+      "file": "70dad25554d3fa128459faab97a447bb1c68355c.pt",
+      "normalized_text": "Hold the roller with smooth texture firmly from the table.",
+      "raw_texts": [
+        "Hold the roller with smooth texture firmly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "713fff92b0117ebc84d4d8230a4c08799d733ef1",
+      "file": "713fff92b0117ebc84d4d8230a4c08799d733ef1.pt",
+      "normalized_text": "Hold the brown roller on the table with hands.",
+      "raw_texts": [
+        "Hold the brown roller on the table with hands."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "7492c7aae67eb8fbd819d82b79854518c204abe1",
+      "file": "7492c7aae67eb8fbd819d82b79854518c204abe1.pt",
+      "normalized_text": "Grab the roller for smoothing materials directly from the table.",
+      "raw_texts": [
+        "Grab the roller for smoothing materials directly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "753fc6f205a7987131ea2e7131d0588fbb782e15",
+      "file": "753fc6f205a7987131ea2e7131d0588fbb782e15.pt",
+      "normalized_text": "Reach for the cylindrical roller with tapered ends and grab it firmly.",
+      "raw_texts": [
+        "Reach for the cylindrical roller with tapered ends and grab it firmly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "7624364eb630ea97a6ab05268acb99816dbeae2b",
+      "file": "7624364eb630ea97a6ab05268acb99816dbeae2b.pt",
+      "normalized_text": "Reach for the medium-sized roller and hold it firmly",
+      "raw_texts": [
+        "Reach for the medium-sized roller and hold it firmly"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "7679fd0a970cf371d4b23ad5ac92fd9d51977da6",
+      "file": "7679fd0a970cf371d4b23ad5ac92fd9d51977da6.pt",
+      "normalized_text": "Securely grab the solid wood roller using both arms.",
+      "raw_texts": [
+        "Securely grab the solid wood roller using both arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "76ceb1204950fe8cd84b02921e07fcfe67e01213",
+      "file": "76ceb1204950fe8cd84b02921e07fcfe67e01213.pt",
+      "normalized_text": "Take hold of the light brown wooden roller with arms.",
+      "raw_texts": [
+        "Take hold of the light brown wooden roller with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "76d0d0e9d41babcb8fb9018ee9c25ee1a6c8bdba",
+      "file": "76d0d0e9d41babcb8fb9018ee9c25ee1a6c8bdba.pt",
+      "normalized_text": "Use both arms to grip the roller shaped like cylinder tightly.",
+      "raw_texts": [
+        "Use both arms to grip the roller shaped like cylinder tightly."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "76d4995eb6134022d0496b74d1716fbffec30c53",
+      "file": "76d4995eb6134022d0496b74d1716fbffec30c53.pt",
+      "normalized_text": "Grasp the roller for rolling firmly with arms.",
+      "raw_texts": [
+        "Grasp the roller for rolling firmly with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "77b2c74b13b2f0e47b9fd7b1fcb8b904423f17a3",
+      "file": "77b2c74b13b2f0e47b9fd7b1fcb8b904423f17a3.pt",
+      "normalized_text": "Bring both arms to grab the roller shaped like cylinder.",
+      "raw_texts": [
+        "Bring both arms to grab the roller shaped like cylinder."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "783133ed5d54340dad00f7fefdab9eda4d60ac7e",
+      "file": "783133ed5d54340dad00f7fefdab9eda4d60ac7e.pt",
+      "normalized_text": "Lift the brown roller from the table.",
+      "raw_texts": [
+        "Lift the brown roller from the table."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "7860f1c6184693d0add61b7a84f62dd97a52c882",
+      "file": "7860f1c6184693d0add61b7a84f62dd97a52c882.pt",
+      "normalized_text": "Grab the roller for rolling directly from the table.",
+      "raw_texts": [
+        "Grab the roller for rolling directly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "78fe507e781742b04c1202bb5f178baba4081b23",
+      "file": "78fe507e781742b04c1202bb5f178baba4081b23.pt",
+      "normalized_text": "Grip the light wood roller firmly with arms.",
+      "raw_texts": [
+        "Grip the light wood roller firmly with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "7993c02d2643d0c71b4b18af3bf127f998b66bac",
+      "file": "7993c02d2643d0c71b4b18af3bf127f998b66bac.pt",
+      "normalized_text": "Pick up the solid wood roller from the table directly.",
+      "raw_texts": [
+        "Pick up the solid wood roller from the table directly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "7994a28883e2ed51030c735c5a2603096ff6c23a",
+      "file": "7994a28883e2ed51030c735c5a2603096ff6c23a.pt",
+      "normalized_text": "Use both arms to grab the roller for rolling.",
+      "raw_texts": [
+        "Use both arms to grab the roller for rolling."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "7a4d9e9dcbc431be0fd40f9e576967af68b6469b",
+      "file": "7a4d9e9dcbc431be0fd40f9e576967af68b6469b.pt",
+      "normalized_text": "Place hands on the solid wood roller and lift.",
+      "raw_texts": [
+        "Place hands on the solid wood roller and lift."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "7a8f011a009c2ea6ccc24057f49f491e9b8cdfb9",
+      "file": "7a8f011a009c2ea6ccc24057f49f491e9b8cdfb9.pt",
+      "normalized_text": "Bring both arms to grab the narrow tapered roller.",
+      "raw_texts": [
+        "Bring both arms to grab the narrow tapered roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "7a97661a4b95d114c48b4cfd7e17ab78927184e4",
+      "file": "7a97661a4b95d114c48b4cfd7e17ab78927184e4.pt",
+      "normalized_text": "Grasp the palm-length roller on the table with arms.",
+      "raw_texts": [
+        "Grasp the palm-length roller on the table with arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "7ad0b457495b96209904485b3ce1e9a19ff0ee73",
+      "file": "7ad0b457495b96209904485b3ce1e9a19ff0ee73.pt",
+      "normalized_text": "Firmly grab the light brown wooden roller using arms.",
+      "raw_texts": [
+        "Firmly grab the light brown wooden roller using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "7ae21ea741516fa6dd44d9c7546c83b082c3d1bd",
+      "file": "7ae21ea741516fa6dd44d9c7546c83b082c3d1bd.pt",
+      "normalized_text": "Use both arms to grab the palm-length roller.",
+      "raw_texts": [
+        "Use both arms to grab the palm-length roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "7cc2d35e5991abc4e695daa6cccf44bb9bccea86",
+      "file": "7cc2d35e5991abc4e695daa6cccf44bb9bccea86.pt",
+      "normalized_text": "Use both arms to grab the smooth cylindrical roller.",
+      "raw_texts": [
+        "Use both arms to grab the smooth cylindrical roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "7cee404ff748764b43145d9fc7331336080f3c82",
+      "file": "7cee404ff748764b43145d9fc7331336080f3c82.pt",
+      "normalized_text": "Lift the smooth cylindrical roller off the table with arms.",
+      "raw_texts": [
+        "Lift the smooth cylindrical roller off the table with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "7da1da40320abf3522b9ce5dd24705333e17fe8d",
+      "file": "7da1da40320abf3522b9ce5dd24705333e17fe8d.pt",
+      "normalized_text": "Grab the long slim roller placed on the table.",
+      "raw_texts": [
+        "Grab the long slim roller placed on the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "7f0af3f898052d81e78d72b9aeb668fad754362d",
+      "file": "7f0af3f898052d81e78d72b9aeb668fad754362d.pt",
+      "normalized_text": "Hold the slim wooden roller on the table with hands.",
+      "raw_texts": [
+        "Hold the slim wooden roller on the table with hands."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "7f3054300a67ae7057ff97b47bdb2bb9b47f87e9",
+      "file": "7f3054300a67ae7057ff97b47bdb2bb9b47f87e9.pt",
+      "normalized_text": "Take both arms to grasp the long slim roller.",
+      "raw_texts": [
+        "Take both arms to grasp the long slim roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "8061e2ad159d98373d0d6e172724004d36b6e31c",
+      "file": "8061e2ad159d98373d0d6e172724004d36b6e31c.pt",
+      "normalized_text": "Grab the slim wooden roller placed on the table.",
+      "raw_texts": [
+        "Grab the slim wooden roller placed on the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "817d34ecc5c96c1f4d3869f7eada2b704aa92eca",
+      "file": "817d34ecc5c96c1f4d3869f7eada2b704aa92eca.pt",
+      "normalized_text": "Secure the medium-sized roller from the table using arms",
+      "raw_texts": [
+        "Secure the medium-sized roller from the table using arms"
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "834236a0f4a39558505e9d0ee0c1ec71e463ac6e",
+      "file": "834236a0f4a39558505e9d0ee0c1ec71e463ac6e.pt",
+      "normalized_text": "Grasp the solid wood roller on the table with arms.",
+      "raw_texts": [
+        "Grasp the solid wood roller on the table with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "83b98ea723555573f433aadc57d2bd8a94acd7bf",
+      "file": "83b98ea723555573f433aadc57d2bd8a94acd7bf.pt",
+      "normalized_text": "Lift the roller for smoothing materials off the table with both arms",
+      "raw_texts": [
+        "Lift the roller for smoothing materials off the table with both arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "83cd47c9618b77524d22be825448edcc19fc1123",
+      "file": "83cd47c9618b77524d22be825448edcc19fc1123.pt",
+      "normalized_text": "Hold the smooth cylindrical roller with both arms to pick it up",
+      "raw_texts": [
+        "Hold the smooth cylindrical roller with both arms to pick it up"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "8431aeac51d9b080f5007fd2f59ecc5125a12d5b",
+      "file": "8431aeac51d9b080f5007fd2f59ecc5125a12d5b.pt",
+      "normalized_text": "Lift the roller with polished surface off the table with both arms",
+      "raw_texts": [
+        "Lift the roller with polished surface off the table with both arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "848ed9b5e8fdc56f3082abfe5f62fd543bca57f9",
+      "file": "848ed9b5e8fdc56f3082abfe5f62fd543bca57f9.pt",
+      "normalized_text": "Take the brown roller directly from the table.",
+      "raw_texts": [
+        "Take the brown roller directly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "84a7c5b52bb8d9fe414fce52d7cdb03e0c19013c",
+      "file": "84a7c5b52bb8d9fe414fce52d7cdb03e0c19013c.pt",
+      "normalized_text": "Pick up the smooth cylindrical roller using both arms.",
+      "raw_texts": [
+        "Pick up the smooth cylindrical roller using both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "84d1d020e6fe4012b3d23fb579829a2619d67615",
+      "file": "84d1d020e6fe4012b3d23fb579829a2619d67615.pt",
+      "normalized_text": "Hold the cylindrical roller with tapered ends with both arms to pick it up",
+      "raw_texts": [
+        "Hold the cylindrical roller with tapered ends with both arms to pick it up"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "8591b88408841a6f96ef1b8ea602fa0145e41c42",
+      "file": "8591b88408841a6f96ef1b8ea602fa0145e41c42.pt",
+      "normalized_text": "Hold the cylindrical roller firmly from the table.",
+      "raw_texts": [
+        "Hold the cylindrical roller firmly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "86abedee0f3248b8f380ca710a96b802b8023308",
+      "file": "86abedee0f3248b8f380ca710a96b802b8023308.pt",
+      "normalized_text": "Firmly grip the smooth light brown roller on the table now.",
+      "raw_texts": [
+        "Firmly grip the smooth light brown roller on the table now."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "86d8774fe8430216e140c4307d914847582b27f5",
+      "file": "86d8774fe8430216e140c4307d914847582b27f5.pt",
+      "normalized_text": "Grab the light wood roller placed on the table.",
+      "raw_texts": [
+        "Grab the light wood roller placed on the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "889067189ee3f981a8ff47e6f355284e90ec80f1",
+      "file": "889067189ee3f981a8ff47e6f355284e90ec80f1.pt",
+      "normalized_text": "Use arms to firmly grab the roller for rolling.",
+      "raw_texts": [
+        "Use arms to firmly grab the roller for rolling."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "88a6a95a4155ea40157db90ac3a0b920220ede12",
+      "file": "88a6a95a4155ea40157db90ac3a0b920220ede12.pt",
+      "normalized_text": "Grip the cylindrical roller firmly with arms.",
+      "raw_texts": [
+        "Grip the cylindrical roller firmly with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "88d5db32707cf7eb1ac26b073f116ca7d893b976",
+      "file": "88d5db32707cf7eb1ac26b073f116ca7d893b976.pt",
+      "normalized_text": "Bring both arms to grab the light brown roller.",
+      "raw_texts": [
+        "Bring both arms to grab the light brown roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "892f727d54ae416312d14ebe320641c8cb182452",
+      "file": "892f727d54ae416312d14ebe320641c8cb182452.pt",
+      "normalized_text": "Pick up the brown roller from the table.",
+      "raw_texts": [
+        "Pick up the brown roller from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "8a26e21070054fee4f448e86741e733eb070c39e",
+      "file": "8a26e21070054fee4f448e86741e733eb070c39e.pt",
+      "normalized_text": "Take the light wood roller directly from the table.",
+      "raw_texts": [
+        "Take the light wood roller directly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "8a91561f592aa64458e9125ec6f6baa50fb5d475",
+      "file": "8a91561f592aa64458e9125ec6f6baa50fb5d475.pt",
+      "normalized_text": "Grab the slim wooden roller directly from the table.",
+      "raw_texts": [
+        "Grab the slim wooden roller directly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "8acb72e7cbde593c96c38768b67999f7bd2594b9",
+      "file": "8acb72e7cbde593c96c38768b67999f7bd2594b9.pt",
+      "normalized_text": "Pick up the medium roller with narrower tips using both arms.",
+      "raw_texts": [
+        "Pick up the medium roller with narrower tips using both arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "8cf10c4c65171f4cf6368c8f880180a38923c591",
+      "file": "8cf10c4c65171f4cf6368c8f880180a38923c591.pt",
+      "normalized_text": "Hold the cylindrical roller with tapered ends from the table.",
+      "raw_texts": [
+        "Hold the cylindrical roller with tapered ends from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "8dabfd2f24d9e202977648a3f0ebd47656c2c945",
+      "file": "8dabfd2f24d9e202977648a3f0ebd47656c2c945.pt",
+      "normalized_text": "Take hold of the light brown wooden roller with both arms.",
+      "raw_texts": [
+        "Take hold of the light brown wooden roller with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "8dcd909a12911a907ed18d0c66b9624c46475fea",
+      "file": "8dcd909a12911a907ed18d0c66b9624c46475fea.pt",
+      "normalized_text": "Take both arms to grasp the light brown roller.",
+      "raw_texts": [
+        "Take both arms to grasp the light brown roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "8de2b2b90a596f8d084f08b3e50c1ded1f5d685d",
+      "file": "8de2b2b90a596f8d084f08b3e50c1ded1f5d685d.pt",
+      "normalized_text": "Take both arms to grasp the slim wooden roller.",
+      "raw_texts": [
+        "Take both arms to grasp the slim wooden roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "8e090fb4520e503b1220d30b3cb8aa4ae041dad3",
+      "file": "8e090fb4520e503b1220d30b3cb8aa4ae041dad3.pt",
+      "normalized_text": "Grab the cylindrical roller directly from the table.",
+      "raw_texts": [
+        "Grab the cylindrical roller directly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "8e144a5388984c48b1da7d5c5ae4a04f99ed1c7c",
+      "file": "8e144a5388984c48b1da7d5c5ae4a04f99ed1c7c.pt",
+      "normalized_text": "Reach for the roller with polished surface and hold it firmly",
+      "raw_texts": [
+        "Reach for the roller with polished surface and hold it firmly"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "90566a4655ab9ab8b70ac55680c754a0c2cf4362",
+      "file": "90566a4655ab9ab8b70ac55680c754a0c2cf4362.pt",
+      "normalized_text": "Grip the medium roller with narrower tips firmly with arms.",
+      "raw_texts": [
+        "Grip the medium roller with narrower tips firmly with arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "907722cccb64ffef41ee24d580cf6fac84a2eda5",
+      "file": "907722cccb64ffef41ee24d580cf6fac84a2eda5.pt",
+      "normalized_text": "Lift the roller with smooth and shiny texture from its place on the table",
+      "raw_texts": [
+        "Lift the roller with smooth and shiny texture from its place on the table"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "90c7338ca8a833cf145c2347884d366f165579d2",
+      "file": "90c7338ca8a833cf145c2347884d366f165579d2.pt",
+      "normalized_text": "Bring both arms to grab the solid wood roller.",
+      "raw_texts": [
+        "Bring both arms to grab the solid wood roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "91a6da327c8999b8163ce093293e4071b94a9299",
+      "file": "91a6da327c8999b8163ce093293e4071b94a9299.pt",
+      "normalized_text": "Grasp the slim wooden roller on the table.",
+      "raw_texts": [
+        "Grasp the slim wooden roller on the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "91f3a754fc9968f8881096cdb94e019d79534cd0",
+      "file": "91f3a754fc9968f8881096cdb94e019d79534cd0.pt",
+      "normalized_text": "Secure the medium roller with narrower tips with both arms.",
+      "raw_texts": [
+        "Secure the medium roller with narrower tips with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "926eecbff308ca5c72867c24e82108e0f07ae3be",
+      "file": "926eecbff308ca5c72867c24e82108e0f07ae3be.pt",
+      "normalized_text": "Hold the narrow tapered roller with both arms to pick it up",
+      "raw_texts": [
+        "Hold the narrow tapered roller with both arms to pick it up"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "92e9dac5ded798fe6fb048611bb72726e4979bd7",
+      "file": "92e9dac5ded798fe6fb048611bb72726e4979bd7.pt",
+      "normalized_text": "Get hold of the smooth light brown roller using your arms",
+      "raw_texts": [
+        "Get hold of the smooth light brown roller using your arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "9454a1edadce344be441648fcf12d779ade0542e",
+      "file": "9454a1edadce344be441648fcf12d779ade0542e.pt",
+      "normalized_text": "Take hold of the solid wood roller with arms.",
+      "raw_texts": [
+        "Take hold of the solid wood roller with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "952312dee2a27824dc41ca4062a9ca15125831e4",
+      "file": "952312dee2a27824dc41ca4062a9ca15125831e4.pt",
+      "normalized_text": "Use both arms to grip the roller for smoothing materials tightly.",
+      "raw_texts": [
+        "Use both arms to grip the roller for smoothing materials tightly."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "958f81e1f70ce93454c38d073d28809ed7c9146a",
+      "file": "958f81e1f70ce93454c38d073d28809ed7c9146a.pt",
+      "normalized_text": "Secure the slim wooden roller using your arms.",
+      "raw_texts": [
+        "Secure the slim wooden roller using your arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "96d165434a55e54c8ea617e5b9b17100486b86f4",
+      "file": "96d165434a55e54c8ea617e5b9b17100486b86f4.pt",
+      "normalized_text": "Take hold of the roller for rolling with both arms.",
+      "raw_texts": [
+        "Take hold of the roller for rolling with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "97358c154644d6e344a469d11dd47a44de0bfdf6",
+      "file": "97358c154644d6e344a469d11dd47a44de0bfdf6.pt",
+      "normalized_text": "Secure the light wood roller using your arms.",
+      "raw_texts": [
+        "Secure the light wood roller using your arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "978f89f9f0227fad9c40b38372f234884189e980",
+      "file": "978f89f9f0227fad9c40b38372f234884189e980.pt",
+      "normalized_text": "Place hands on the wood roller and lift.",
+      "raw_texts": [
+        "Place hands on the wood roller and lift."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "981751b5b6f6aeefd026d1ce5a363564c3666507",
+      "file": "981751b5b6f6aeefd026d1ce5a363564c3666507.pt",
+      "normalized_text": "Place hands on the roller with polished surface and lift.",
+      "raw_texts": [
+        "Place hands on the roller with polished surface and lift."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "996d1df26099e29829a8733f8af8d2233776023d",
+      "file": "996d1df26099e29829a8733f8af8d2233776023d.pt",
+      "normalized_text": "Grab the roller with smooth and shiny texture directly from the table.",
+      "raw_texts": [
+        "Grab the roller with smooth and shiny texture directly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "99fbe97d253f6c30f31ca5f43e3507bd4211e1c2",
+      "file": "99fbe97d253f6c30f31ca5f43e3507bd4211e1c2.pt",
+      "normalized_text": "Both arms should grab the light brown wooden roller now.",
+      "raw_texts": [
+        "Both arms should grab the light brown wooden roller now."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "9a3ee84e92d6d2fe63210773765ae6ccb3dc5cd4",
+      "file": "9a3ee84e92d6d2fe63210773765ae6ccb3dc5cd4.pt",
+      "normalized_text": "Secure the cylindrical roller from the table using arms",
+      "raw_texts": [
+        "Secure the cylindrical roller from the table using arms"
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "9ab68c8ee3ea4da677bc0b4a7e43585dc79be7e4",
+      "file": "9ab68c8ee3ea4da677bc0b4a7e43585dc79be7e4.pt",
+      "normalized_text": "Lift the solid wood roller from the table carefully.",
+      "raw_texts": [
+        "Lift the solid wood roller from the table carefully."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "9c407756b15a26211a70c71157b82ba349165579",
+      "file": "9c407756b15a26211a70c71157b82ba349165579.pt",
+      "normalized_text": "Lift the wooden rolling tool from the table carefully.",
+      "raw_texts": [
+        "Lift the wooden rolling tool from the table carefully."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "9cc0147eea528e0e36f9ff8acb02e20ff749ef5d",
+      "file": "9cc0147eea528e0e36f9ff8acb02e20ff749ef5d.pt",
+      "normalized_text": "Use both arms to grab the slim wooden roller.",
+      "raw_texts": [
+        "Use both arms to grab the slim wooden roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "9d20024f7a4b51297d0f6daa34faffa8c5d2438c",
+      "file": "9d20024f7a4b51297d0f6daa34faffa8c5d2438c.pt",
+      "normalized_text": "Lift the long slim roller off the table with both arms",
+      "raw_texts": [
+        "Lift the long slim roller off the table with both arms"
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "9d295141821298a3debbb7e795b60335b3e7929f",
+      "file": "9d295141821298a3debbb7e795b60335b3e7929f.pt",
+      "normalized_text": "Grasp the medium-sized roller firmly with arms.",
+      "raw_texts": [
+        "Grasp the medium-sized roller firmly with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "9dbb391d16a182c1bdd8b81e8f004500fe0ae251",
+      "file": "9dbb391d16a182c1bdd8b81e8f004500fe0ae251.pt",
+      "normalized_text": "Use both arms to grab the wood roller.",
+      "raw_texts": [
+        "Use both arms to grab the wood roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "9e5b9cb50c05fabc88cb20787dd694c78fc1b3fb",
+      "file": "9e5b9cb50c05fabc88cb20787dd694c78fc1b3fb.pt",
+      "normalized_text": "Grab the palm-sized roller placed on the table.",
+      "raw_texts": [
+        "Grab the palm-sized roller placed on the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "9f4abd1ba3c848f4ffe1e6ef47709c29e2b06a7d",
+      "file": "9f4abd1ba3c848f4ffe1e6ef47709c29e2b06a7d.pt",
+      "normalized_text": "Reach out to grab the light brown wooden roller from the table",
+      "raw_texts": [
+        "Reach out to grab the light brown wooden roller from the table"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "9f4ba9a60795bf0f2097bea5d7790385c390e99b",
+      "file": "9f4ba9a60795bf0f2097bea5d7790385c390e99b.pt",
+      "normalized_text": "Grasp the smooth cylindrical roller firmly from the table.",
+      "raw_texts": [
+        "Grasp the smooth cylindrical roller firmly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "9f5a0685bba8fda323e4da6a30d10dcd92a3b455",
+      "file": "9f5a0685bba8fda323e4da6a30d10dcd92a3b455.pt",
+      "normalized_text": "Grip the roller for rolling firmly with arms.",
+      "raw_texts": [
+        "Grip the roller for rolling firmly with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a022bebeae6135770931c795e7a30f6b13cfc3ff",
+      "file": "a022bebeae6135770931c795e7a30f6b13cfc3ff.pt",
+      "normalized_text": "Lift the cylindrical roller with tapered ends with your arms.",
+      "raw_texts": [
+        "Lift the cylindrical roller with tapered ends with your arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "a132c5a023bf61be5999d04b84ccdf73f10abf27",
+      "file": "a132c5a023bf61be5999d04b84ccdf73f10abf27.pt",
+      "normalized_text": "Hold the solid wood roller with both arms to pick it up",
+      "raw_texts": [
+        "Hold the solid wood roller with both arms to pick it up"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a17484f1006f31d2dc7f0d85d488fcb7f3422619",
+      "file": "a17484f1006f31d2dc7f0d85d488fcb7f3422619.pt",
+      "normalized_text": "Lift the roller with smooth and shiny texture with your arms.",
+      "raw_texts": [
+        "Lift the roller with smooth and shiny texture with your arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "a1f525e75b4f0edc230fa995ccfc3f27f114d39a",
+      "file": "a1f525e75b4f0edc230fa995ccfc3f27f114d39a.pt",
+      "normalized_text": "Take hold of the roller with polished surface.",
+      "raw_texts": [
+        "Take hold of the roller with polished surface."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a37856520b2762d004c091afd9f8d3894dcda25d",
+      "file": "a37856520b2762d004c091afd9f8d3894dcda25d.pt",
+      "normalized_text": "Secure the medium roller with narrower tips from the table using arms",
+      "raw_texts": [
+        "Secure the medium roller with narrower tips from the table using arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a3a6913aa5c1261ecc67d4f18851d4bab57a1b24",
+      "file": "a3a6913aa5c1261ecc67d4f18851d4bab57a1b24.pt",
+      "normalized_text": "Take hold of the roller with smooth and shiny texture with both arms.",
+      "raw_texts": [
+        "Take hold of the roller with smooth and shiny texture with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a466bda1c8d28ccc46393acdc1b0bf9d4a690777",
+      "file": "a466bda1c8d28ccc46393acdc1b0bf9d4a690777.pt",
+      "normalized_text": "Pick up the wood roller using both arms equally",
+      "raw_texts": [
+        "Pick up the wood roller using both arms equally"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a48b9df590f95bac5768ba1ef2bdcb101c6045bd",
+      "file": "a48b9df590f95bac5768ba1ef2bdcb101c6045bd.pt",
+      "normalized_text": "Hold the wood roller from the table.",
+      "raw_texts": [
+        "Hold the wood roller from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a49096e119165fb12c963d08c6e9c40adeb65e8d",
+      "file": "a49096e119165fb12c963d08c6e9c40adeb65e8d.pt",
+      "normalized_text": "Grasp the palm-length roller firmly with arms.",
+      "raw_texts": [
+        "Grasp the palm-length roller firmly with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a4a083666104127131102d8c633861bcff9b898b",
+      "file": "a4a083666104127131102d8c633861bcff9b898b.pt",
+      "normalized_text": "Securely grab the roller for smoothing materials using both arms.",
+      "raw_texts": [
+        "Securely grab the roller for smoothing materials using both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a4b2b5a88f495b072bebcc21d5dc47330c4e3fcf",
+      "file": "a4b2b5a88f495b072bebcc21d5dc47330c4e3fcf.pt",
+      "normalized_text": "Secure the roller shaped like cylinder using your arms.",
+      "raw_texts": [
+        "Secure the roller shaped like cylinder using your arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "a55246f199fe78ab03dbbdf4dc63af5b141c2ad5",
+      "file": "a55246f199fe78ab03dbbdf4dc63af5b141c2ad5.pt",
+      "normalized_text": "Get hold of the light brown wooden roller using your arms",
+      "raw_texts": [
+        "Get hold of the light brown wooden roller using your arms"
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "a5d6db7025868f27a8e425ce663ba0cf0bb5d5b3",
+      "file": "a5d6db7025868f27a8e425ce663ba0cf0bb5d5b3.pt",
+      "normalized_text": "Pick up the light brown roller from the table.",
+      "raw_texts": [
+        "Pick up the light brown roller from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a5fae97ca6022a45b28eac9d0766c962f5f82dbd",
+      "file": "a5fae97ca6022a45b28eac9d0766c962f5f82dbd.pt",
+      "normalized_text": "Lift the light brown roller from its place on the table",
+      "raw_texts": [
+        "Lift the light brown roller from its place on the table"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a607ead4bad7712c2ccfb3ad6bd85d13f8d4ea38",
+      "file": "a607ead4bad7712c2ccfb3ad6bd85d13f8d4ea38.pt",
+      "normalized_text": "Hold the roller for rolling on the table with hands.",
+      "raw_texts": [
+        "Hold the roller for rolling on the table with hands."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "a7e475e1f9f71d6856434bb8df860c4768bf8fd5",
+      "file": "a7e475e1f9f71d6856434bb8df860c4768bf8fd5.pt",
+      "normalized_text": "Hold the narrow tapered roller firmly from the table.",
+      "raw_texts": [
+        "Hold the narrow tapered roller firmly from the table."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "a8763460756d84fda5f6db17950a0908dcfc7cc8",
+      "file": "a8763460756d84fda5f6db17950a0908dcfc7cc8.pt",
+      "normalized_text": "Pick up the roller with polished surface using both arms equally",
+      "raw_texts": [
+        "Pick up the roller with polished surface using both arms equally"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a87918e6c0bb8b3cc64f7493c5a62c08358c892a",
+      "file": "a87918e6c0bb8b3cc64f7493c5a62c08358c892a.pt",
+      "normalized_text": "Grip the roller for smoothing materials firmly with arms.",
+      "raw_texts": [
+        "Grip the roller for smoothing materials firmly with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a87c18152cc10de4214e427b33da708cdd4544c0",
+      "file": "a87c18152cc10de4214e427b33da708cdd4544c0.pt",
+      "normalized_text": "Get hold of the palm-sized roller using your arms",
+      "raw_texts": [
+        "Get hold of the palm-sized roller using your arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a92221f012e52508314d67499ba725b26b565add",
+      "file": "a92221f012e52508314d67499ba725b26b565add.pt",
+      "normalized_text": "Lift the light brown roller from the table.",
+      "raw_texts": [
+        "Lift the light brown roller from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a992003c1caedccb8cdace80e8e80aa977e06c65",
+      "file": "a992003c1caedccb8cdace80e8e80aa977e06c65.pt",
+      "normalized_text": "Take both arms to grasp the roller for smoothing materials.",
+      "raw_texts": [
+        "Take both arms to grasp the roller for smoothing materials."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a9950c8a96f280d4ab3633f3c224d623c18faf1c",
+      "file": "a9950c8a96f280d4ab3633f3c224d623c18faf1c.pt",
+      "normalized_text": "Secure the palm-sized roller on the table using arms.",
+      "raw_texts": [
+        "Secure the palm-sized roller on the table using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "a9c0d61e7b5886b821b3c0e9020d55ad5f01b6eb",
+      "file": "a9c0d61e7b5886b821b3c0e9020d55ad5f01b6eb.pt",
+      "normalized_text": "Reach for the narrow tapered roller and grab it firmly.",
+      "raw_texts": [
+        "Reach for the narrow tapered roller and grab it firmly."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "aa2a218552df434ffb6d178e236fb5b61200871c",
+      "file": "aa2a218552df434ffb6d178e236fb5b61200871c.pt",
+      "normalized_text": "Grasp the roller with smooth texture on the table with arms.",
+      "raw_texts": [
+        "Grasp the roller with smooth texture on the table with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "abf3d0eca54b9c0445a8cb49e044747c353f48e1",
+      "file": "abf3d0eca54b9c0445a8cb49e044747c353f48e1.pt",
+      "normalized_text": "Lift the narrow tapered roller from its place on the table",
+      "raw_texts": [
+        "Lift the narrow tapered roller from its place on the table"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "ad65566e9379d3807e3e655fef543de6be423ab7",
+      "file": "ad65566e9379d3807e3e655fef543de6be423ab7.pt",
+      "normalized_text": "Grasp the smooth light brown roller on the table.",
+      "raw_texts": [
+        "Grasp the smooth light brown roller on the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "aed2ce111b5be876971f3ba7a7770f12ef211931",
+      "file": "aed2ce111b5be876971f3ba7a7770f12ef211931.pt",
+      "normalized_text": "Grab the roller for rolling placed on the table.",
+      "raw_texts": [
+        "Grab the roller for rolling placed on the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "b01faafffc7197591a74b30d6ae7992b5a861b7f",
+      "file": "b01faafffc7197591a74b30d6ae7992b5a861b7f.pt",
+      "normalized_text": "Take the palm-length roller directly from the table.",
+      "raw_texts": [
+        "Take the palm-length roller directly from the table."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "b05b6ea0d76c6552770063de450280d2b281c0d8",
+      "file": "b05b6ea0d76c6552770063de450280d2b281c0d8.pt",
+      "normalized_text": "Pick up the medium roller with narrower tips from the table.",
+      "raw_texts": [
+        "Pick up the medium roller with narrower tips from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "b06b63719fd19a5d0027b403a941540452a67019",
+      "file": "b06b63719fd19a5d0027b403a941540452a67019.pt",
+      "normalized_text": "Reach out to grab the slim wooden roller from the table",
+      "raw_texts": [
+        "Reach out to grab the slim wooden roller from the table"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "b0c2248a295cd134a2dc0c4f7ba627cae6e20800",
+      "file": "b0c2248a295cd134a2dc0c4f7ba627cae6e20800.pt",
+      "normalized_text": "Reach out to grab the roller for rolling from the table",
+      "raw_texts": [
+        "Reach out to grab the roller for rolling from the table"
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "b0cc9308e505920f06818f3aea1da1a4ef8fb2b3",
+      "file": "b0cc9308e505920f06818f3aea1da1a4ef8fb2b3.pt",
+      "normalized_text": "Take both arms to grasp the roller with smooth and shiny texture.",
+      "raw_texts": [
+        "Take both arms to grasp the roller with smooth and shiny texture."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "b158d1308e80f9b22591b3498959c12665cb9273",
+      "file": "b158d1308e80f9b22591b3498959c12665cb9273.pt",
+      "normalized_text": "Hold the roller shaped like cylinder from the table.",
+      "raw_texts": [
+        "Hold the roller shaped like cylinder from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "b1e6ef3f3d19353b81edcc72aa324486d8327083",
+      "file": "b1e6ef3f3d19353b81edcc72aa324486d8327083.pt",
+      "normalized_text": "Reach out to grab the roller shaped like cylinder from the table",
+      "raw_texts": [
+        "Reach out to grab the roller shaped like cylinder from the table"
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "b28216838abd3eb016438e21c2205dacc67f1848",
+      "file": "b28216838abd3eb016438e21c2205dacc67f1848.pt",
+      "normalized_text": "Take hold of the roller with smooth and shiny texture with arms.",
+      "raw_texts": [
+        "Take hold of the roller with smooth and shiny texture with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "b367d8f9750c8f03703f3d100c15a5e13f139cc6",
+      "file": "b367d8f9750c8f03703f3d100c15a5e13f139cc6.pt",
+      "normalized_text": "Lift the long slim roller from its place on the table",
+      "raw_texts": [
+        "Lift the long slim roller from its place on the table"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "b41bda0959cbc667b62b0191c1f3f70c7d68feef",
+      "file": "b41bda0959cbc667b62b0191c1f3f70c7d68feef.pt",
+      "normalized_text": "Use both arms to grip the long slim roller tightly.",
+      "raw_texts": [
+        "Use both arms to grip the long slim roller tightly."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "b435afeb851e9fedb5b9a3fb79f57117a4ff130b",
+      "file": "b435afeb851e9fedb5b9a3fb79f57117a4ff130b.pt",
+      "normalized_text": "Use both arms to grip the palm-length roller tightly.",
+      "raw_texts": [
+        "Use both arms to grip the palm-length roller tightly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "b45df28441c2428820d859e33046ffe64e4e6de7",
+      "file": "b45df28441c2428820d859e33046ffe64e4e6de7.pt",
+      "normalized_text": "Reach for the smooth cylindrical roller and grab it firmly.",
+      "raw_texts": [
+        "Reach for the smooth cylindrical roller and grab it firmly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "b512ad60619e0726478fe8f3bdedef1bc5d8e164",
+      "file": "b512ad60619e0726478fe8f3bdedef1bc5d8e164.pt",
+      "normalized_text": "Reach for the slim wooden roller and grab it firmly.",
+      "raw_texts": [
+        "Reach for the slim wooden roller and grab it firmly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "b55e9f492765e19cb7e5de92c361d66db356dc10",
+      "file": "b55e9f492765e19cb7e5de92c361d66db356dc10.pt",
+      "normalized_text": "Grab the wood roller directly from the table.",
+      "raw_texts": [
+        "Grab the wood roller directly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "b682036edf7687ee54b4007ed66493e64ee5eff2",
+      "file": "b682036edf7687ee54b4007ed66493e64ee5eff2.pt",
+      "normalized_text": "Lift the roller for rolling off the table with both arms",
+      "raw_texts": [
+        "Lift the roller for rolling off the table with both arms"
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "b7aa870516b086a56d9bf171594482d479d01f14",
+      "file": "b7aa870516b086a56d9bf171594482d479d01f14.pt",
+      "normalized_text": "Both arms should grab the roller with polished surface now.",
+      "raw_texts": [
+        "Both arms should grab the roller with polished surface now."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "b9ebf08e18bdb43978db3725841c882ed88c120b",
+      "file": "b9ebf08e18bdb43978db3725841c882ed88c120b.pt",
+      "normalized_text": "Grasp the wood roller on the table.",
+      "raw_texts": [
+        "Grasp the wood roller on the table."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "ba7b500be68bf0eb3456622627aac7f451cc0fa1",
+      "file": "ba7b500be68bf0eb3456622627aac7f451cc0fa1.pt",
+      "normalized_text": "Secure the long slim roller with both arms.",
+      "raw_texts": [
+        "Secure the long slim roller with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "bbcbb65ab4528b03d3c9ae12cb58508e3694a8b0",
+      "file": "bbcbb65ab4528b03d3c9ae12cb58508e3694a8b0.pt",
+      "normalized_text": "Grasp the palm-length roller on the table.",
+      "raw_texts": [
+        "Grasp the palm-length roller on the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "bcf843fe70f4bf4dc9da453eddf0cdd9fbb25015",
+      "file": "bcf843fe70f4bf4dc9da453eddf0cdd9fbb25015.pt",
+      "normalized_text": "Hold the slim wooden roller with both arms to pick it up",
+      "raw_texts": [
+        "Hold the slim wooden roller with both arms to pick it up"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "bda8783e724e96dafec409254b0c4e2fb81af28c",
+      "file": "bda8783e724e96dafec409254b0c4e2fb81af28c.pt",
+      "normalized_text": "Both arms should grab the brown roller now.",
+      "raw_texts": [
+        "Both arms should grab the brown roller now."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "bde2e3f6026e58f0c6ce7a746595a24941f08cdc",
+      "file": "bde2e3f6026e58f0c6ce7a746595a24941f08cdc.pt",
+      "normalized_text": "Secure the roller with smooth and shiny texture using your arms.",
+      "raw_texts": [
+        "Secure the roller with smooth and shiny texture using your arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "bff0fc6b03c79cd96efb0c2e8682ab5d11207ac3",
+      "file": "bff0fc6b03c79cd96efb0c2e8682ab5d11207ac3.pt",
+      "normalized_text": "Reach for the medium roller with narrower tips and hold it firmly",
+      "raw_texts": [
+        "Reach for the medium roller with narrower tips and hold it firmly"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "c01a4963021cb90320a9f2f9a66b74019ce06214",
+      "file": "c01a4963021cb90320a9f2f9a66b74019ce06214.pt",
+      "normalized_text": "Lift the narrow tapered roller from the table.",
+      "raw_texts": [
+        "Lift the narrow tapered roller from the table."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "c10dd1df643c3a7c07278bf71adbe98e8dc1409e",
+      "file": "c10dd1df643c3a7c07278bf71adbe98e8dc1409e.pt",
+      "normalized_text": "Secure the roller shaped like cylinder from the table using arms",
+      "raw_texts": [
+        "Secure the roller shaped like cylinder from the table using arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "c1245ab71214398faa16a4c53f291da27bf9c6ff",
+      "file": "c1245ab71214398faa16a4c53f291da27bf9c6ff.pt",
+      "normalized_text": "Secure the palm-length roller with both arms.",
+      "raw_texts": [
+        "Secure the palm-length roller with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "c23f3a458a157f55ffafc6001fd337a5b1e08e35",
+      "file": "c23f3a458a157f55ffafc6001fd337a5b1e08e35.pt",
+      "normalized_text": "Grasp the light brown roller on the table.",
+      "raw_texts": [
+        "Grasp the light brown roller on the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "c26a3fabaa881a63132cf44ff387cad72914a4e3",
+      "file": "c26a3fabaa881a63132cf44ff387cad72914a4e3.pt",
+      "normalized_text": "Secure the smooth cylindrical roller with both arms.",
+      "raw_texts": [
+        "Secure the smooth cylindrical roller with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "c27a1a6e92bb69c4d5220f61399b5ffaf016a899",
+      "file": "c27a1a6e92bb69c4d5220f61399b5ffaf016a899.pt",
+      "normalized_text": "Lift the palm-length roller off the table with arms.",
+      "raw_texts": [
+        "Lift the palm-length roller off the table with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "c29722813fff0bf1686f0d7246735d3efa53a502",
+      "file": "c29722813fff0bf1686f0d7246735d3efa53a502.pt",
+      "normalized_text": "Lift the palm-sized roller off the table with both arms",
+      "raw_texts": [
+        "Lift the palm-sized roller off the table with both arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "c3948ad92cadaf25843066b0db5f540d7ebb5d16",
+      "file": "c3948ad92cadaf25843066b0db5f540d7ebb5d16.pt",
+      "normalized_text": "Take hold of the palm-sized roller using your arms.",
+      "raw_texts": [
+        "Take hold of the palm-sized roller using your arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "c45313383e51d4821db2759400764032903b4f19",
+      "file": "c45313383e51d4821db2759400764032903b4f19.pt",
+      "normalized_text": "Lift the roller shaped like cylinder from its place on the table",
+      "raw_texts": [
+        "Lift the roller shaped like cylinder from its place on the table"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "c5bff511aae726d36b4c4220dd4032ae0f5022ad",
+      "file": "c5bff511aae726d36b4c4220dd4032ae0f5022ad.pt",
+      "normalized_text": "Reach out to grab the light wood roller from the table",
+      "raw_texts": [
+        "Reach out to grab the light wood roller from the table"
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "c64836c8bb20eeb245f440453546ac961facf673",
+      "file": "c64836c8bb20eeb245f440453546ac961facf673.pt",
+      "normalized_text": "Grab the medium-sized roller directly from the table.",
+      "raw_texts": [
+        "Grab the medium-sized roller directly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "c7aedbd2f6e393cb722d3d4167ca92a9be674363",
+      "file": "c7aedbd2f6e393cb722d3d4167ca92a9be674363.pt",
+      "normalized_text": "Firmly grab the brown roller using arms.",
+      "raw_texts": [
+        "Firmly grab the brown roller using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "ca08a4d39b09be42d4ae08795da345b06e86a7f4",
+      "file": "ca08a4d39b09be42d4ae08795da345b06e86a7f4.pt",
+      "normalized_text": "Firmly grip the wood roller on the table now.",
+      "raw_texts": [
+        "Firmly grip the wood roller on the table now."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "caaf6db64e326005b85a7236bd08f2832d8f494c",
+      "file": "caaf6db64e326005b85a7236bd08f2832d8f494c.pt",
+      "normalized_text": "Firmly grab the cylindrical roller using arms.",
+      "raw_texts": [
+        "Firmly grab the cylindrical roller using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "cbac986b312a69f9a7a5ccc95ec1fe05ab4a717c",
+      "file": "cbac986b312a69f9a7a5ccc95ec1fe05ab4a717c.pt",
+      "normalized_text": "Grasp the smooth light brown roller firmly from the table.",
+      "raw_texts": [
+        "Grasp the smooth light brown roller firmly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "cbfc95a00f9643381d4d7a0735f1da32a27015d9",
+      "file": "cbfc95a00f9643381d4d7a0735f1da32a27015d9.pt",
+      "normalized_text": "Hold the smooth cylindrical roller firmly from the table.",
+      "raw_texts": [
+        "Hold the smooth cylindrical roller firmly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "cc5d8e92f33913654713a4345399ca0549e6148e",
+      "file": "cc5d8e92f33913654713a4345399ca0549e6148e.pt",
+      "normalized_text": "Take the roller for rolling directly from the table.",
+      "raw_texts": [
+        "Take the roller for rolling directly from the table."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "cc7e281778a48e7fad04e76e6c8346311119ff05",
+      "file": "cc7e281778a48e7fad04e76e6c8346311119ff05.pt",
+      "normalized_text": "Hold the light brown roller with both arms to pick it up",
+      "raw_texts": [
+        "Hold the light brown roller with both arms to pick it up"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "cd4b389eeb1df311522b92e2083060c8a09052b8",
+      "file": "cd4b389eeb1df311522b92e2083060c8a09052b8.pt",
+      "normalized_text": "Get hold of the palm-length roller using your arms",
+      "raw_texts": [
+        "Get hold of the palm-length roller using your arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "cdc7ecc89a6045bb60b51184edd5253b4ea25993",
+      "file": "cdc7ecc89a6045bb60b51184edd5253b4ea25993.pt",
+      "normalized_text": "Both arms should grab the smooth cylindrical roller now.",
+      "raw_texts": [
+        "Both arms should grab the smooth cylindrical roller now."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "ce0466023b3411196b1e47a4325ab1c06e7d2078",
+      "file": "ce0466023b3411196b1e47a4325ab1c06e7d2078.pt",
+      "normalized_text": "Pick up the solid wood roller using both arms equally",
+      "raw_texts": [
+        "Pick up the solid wood roller using both arms equally"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "ceb2efab8391823aa802f517ec7099a12fdd7f09",
+      "file": "ceb2efab8391823aa802f517ec7099a12fdd7f09.pt",
+      "normalized_text": "Hold the light wood roller firmly from the table.",
+      "raw_texts": [
+        "Hold the light wood roller firmly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "cff892cc2d2d44dfd973dc199c4f7a79bc68a9fb",
+      "file": "cff892cc2d2d44dfd973dc199c4f7a79bc68a9fb.pt",
+      "normalized_text": "Grab the cylindrical roller placed on the table.",
+      "raw_texts": [
+        "Grab the cylindrical roller placed on the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "d050f2c724215b31d97e86e4a2553d1b2e7df85a",
+      "file": "d050f2c724215b31d97e86e4a2553d1b2e7df85a.pt",
+      "normalized_text": "Take hold of the wooden rolling tool using your arms.",
+      "raw_texts": [
+        "Take hold of the wooden rolling tool using your arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "d0637615a9ac051449c84c61c8b8f211d805ddf3",
+      "file": "d0637615a9ac051449c84c61c8b8f211d805ddf3.pt",
+      "normalized_text": "Securely grab the cylindrical roller using both arms.",
+      "raw_texts": [
+        "Securely grab the cylindrical roller using both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "d0805a03c40a14b352b86190254aadf01e860fc5",
+      "file": "d0805a03c40a14b352b86190254aadf01e860fc5.pt",
+      "normalized_text": "Pick up the smooth cylindrical roller using both arms equally",
+      "raw_texts": [
+        "Pick up the smooth cylindrical roller using both arms equally"
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "d1356a22e6051b57c440b8431d77a86bf18b103a",
+      "file": "d1356a22e6051b57c440b8431d77a86bf18b103a.pt",
+      "normalized_text": "Take hold of the palm-sized roller with arms.",
+      "raw_texts": [
+        "Take hold of the palm-sized roller with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "d1adbc459ac5aba4bb4bbc3019ea7141917def37",
+      "file": "d1adbc459ac5aba4bb4bbc3019ea7141917def37.pt",
+      "normalized_text": "Grasp the roller with smooth texture firmly from the table.",
+      "raw_texts": [
+        "Grasp the roller with smooth texture firmly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "d1f8b62d8cfd6a03826c7612eee32fe7091ec840",
+      "file": "d1f8b62d8cfd6a03826c7612eee32fe7091ec840.pt",
+      "normalized_text": "Grasp the brown roller on the table with arms.",
+      "raw_texts": [
+        "Grasp the brown roller on the table with arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "d33162324535557221ebb2afa857e7602918e1a8",
+      "file": "d33162324535557221ebb2afa857e7602918e1a8.pt",
+      "normalized_text": "Grasp the long slim roller on the table.",
+      "raw_texts": [
+        "Grasp the long slim roller on the table."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "d3b89d348dd68619e5d777e9c4a2706e014f2bc7",
+      "file": "d3b89d348dd68619e5d777e9c4a2706e014f2bc7.pt",
+      "normalized_text": "Both arms should grab the narrow tapered roller now.",
+      "raw_texts": [
+        "Both arms should grab the narrow tapered roller now."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "d41b5aae512e5dc47fdeae329b6db7b04e45f413",
+      "file": "d41b5aae512e5dc47fdeae329b6db7b04e45f413.pt",
+      "normalized_text": "Reach for the roller with polished surface and grab it firmly.",
+      "raw_texts": [
+        "Reach for the roller with polished surface and grab it firmly."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "d510d54613ac68ecf35e87304c08c58b2b7e88cd",
+      "file": "d510d54613ac68ecf35e87304c08c58b2b7e88cd.pt",
+      "normalized_text": "Take hold of the light wood roller with arms.",
+      "raw_texts": [
+        "Take hold of the light wood roller with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "d5446a0b43baf0da46c8a6878ef1b1c81319d688",
+      "file": "d5446a0b43baf0da46c8a6878ef1b1c81319d688.pt",
+      "normalized_text": "Pick up the wood roller using both arms.",
+      "raw_texts": [
+        "Pick up the wood roller using both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "d5b21bcdd3808371f0fd9f67a1581c00e36cb0f5",
+      "file": "d5b21bcdd3808371f0fd9f67a1581c00e36cb0f5.pt",
+      "normalized_text": "Hold the smooth light brown roller with both arms to pick it up",
+      "raw_texts": [
+        "Hold the smooth light brown roller with both arms to pick it up"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "d8ed00bb3a5592f32e7ee471d664772c57b19bce",
+      "file": "d8ed00bb3a5592f32e7ee471d664772c57b19bce.pt",
+      "normalized_text": "Reach out to grab the solid wood roller from the table",
+      "raw_texts": [
+        "Reach out to grab the solid wood roller from the table"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "d99f0b9057aa9458bcf94726d8c8870ab5919a48",
+      "file": "d99f0b9057aa9458bcf94726d8c8870ab5919a48.pt",
+      "normalized_text": "Secure the brown roller with both arms.",
+      "raw_texts": [
+        "Secure the brown roller with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "dc2dcc4b3f301ccd17fe5750c3052b7539659e04",
+      "file": "dc2dcc4b3f301ccd17fe5750c3052b7539659e04.pt",
+      "normalized_text": "Use arms to hold the light brown roller tightly.",
+      "raw_texts": [
+        "Use arms to hold the light brown roller tightly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "dca49443e898adab4537c758b7d0981e26ec2f3e",
+      "file": "dca49443e898adab4537c758b7d0981e26ec2f3e.pt",
+      "normalized_text": "Reach out to grab the roller with smooth texture from the table",
+      "raw_texts": [
+        "Reach out to grab the roller with smooth texture from the table"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "de5b2e192426d7bcbcdce29ed2f30f79abd0766d",
+      "file": "de5b2e192426d7bcbcdce29ed2f30f79abd0766d.pt",
+      "normalized_text": "Take the solid wood roller directly from the table.",
+      "raw_texts": [
+        "Take the solid wood roller directly from the table."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "de5c40c2c4cb17ee22fb721870a76ef06abf8ba8",
+      "file": "de5c40c2c4cb17ee22fb721870a76ef06abf8ba8.pt",
+      "normalized_text": "Use arms to firmly grab the palm-length roller.",
+      "raw_texts": [
+        "Use arms to firmly grab the palm-length roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "df1106f6d914e7d93d803a7cf2686ed9c7dda6c2",
+      "file": "df1106f6d914e7d93d803a7cf2686ed9c7dda6c2.pt",
+      "normalized_text": "Place hands on the narrow tapered roller and lift.",
+      "raw_texts": [
+        "Place hands on the narrow tapered roller and lift."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e01679f1c220d077357dc63a4452608919833ede",
+      "file": "e01679f1c220d077357dc63a4452608919833ede.pt",
+      "normalized_text": "Both arms should grab the light wood roller now.",
+      "raw_texts": [
+        "Both arms should grab the light wood roller now."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e0cf71453c579dee5e8d2b3852b1192071da0e91",
+      "file": "e0cf71453c579dee5e8d2b3852b1192071da0e91.pt",
+      "normalized_text": "Take hold of the roller with polished surface using your arms.",
+      "raw_texts": [
+        "Take hold of the roller with polished surface using your arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e1f5762a8630eb159ddd0e44c3611a5044ddec15",
+      "file": "e1f5762a8630eb159ddd0e44c3611a5044ddec15.pt",
+      "normalized_text": "Take both arms to grasp the cylindrical roller with tapered ends.",
+      "raw_texts": [
+        "Take both arms to grasp the cylindrical roller with tapered ends."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e209088eeb08a3e8bb3c61f959199ab2ba90c481",
+      "file": "e209088eeb08a3e8bb3c61f959199ab2ba90c481.pt",
+      "normalized_text": "Take the slim wooden roller directly from the table.",
+      "raw_texts": [
+        "Take the slim wooden roller directly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e2f023d7d6284cfef1fa5867db68d458f41efff6",
+      "file": "e2f023d7d6284cfef1fa5867db68d458f41efff6.pt",
+      "normalized_text": "Grasp the roller with smooth texture on the table.",
+      "raw_texts": [
+        "Grasp the roller with smooth texture on the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e478dad92a9c395db628e4284a9f8d1dea5a7cb0",
+      "file": "e478dad92a9c395db628e4284a9f8d1dea5a7cb0.pt",
+      "normalized_text": "Pick up the narrow tapered roller using both arms equally",
+      "raw_texts": [
+        "Pick up the narrow tapered roller using both arms equally"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e573c21eb303ea7538856ad8e92c2511ff53f63a",
+      "file": "e573c21eb303ea7538856ad8e92c2511ff53f63a.pt",
+      "normalized_text": "Place hands on the roller shaped like cylinder and lift.",
+      "raw_texts": [
+        "Place hands on the roller shaped like cylinder and lift."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e5ea2ff87de442aae53cf6dc11430ccbef72bf4a",
+      "file": "e5ea2ff87de442aae53cf6dc11430ccbef72bf4a.pt",
+      "normalized_text": "Take hold of the palm-length roller with arms.",
+      "raw_texts": [
+        "Take hold of the palm-length roller with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e5f26841138e294102019a8cfde9e22d4a494bc6",
+      "file": "e5f26841138e294102019a8cfde9e22d4a494bc6.pt",
+      "normalized_text": "Reach for the wood roller and grab it firmly.",
+      "raw_texts": [
+        "Reach for the wood roller and grab it firmly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e640285be6d89c7cd113250fced8fb42c091ced4",
+      "file": "e640285be6d89c7cd113250fced8fb42c091ced4.pt",
+      "normalized_text": "Lift the wooden rolling tool from its place on the table",
+      "raw_texts": [
+        "Lift the wooden rolling tool from its place on the table"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e778f1679a9593372d2c4afedfe864aa1d29df99",
+      "file": "e778f1679a9593372d2c4afedfe864aa1d29df99.pt",
+      "normalized_text": "Get hold of the roller for rolling using your arms",
+      "raw_texts": [
+        "Get hold of the roller for rolling using your arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e7b6c61e0593f269e375d841542d9f967259d8eb",
+      "file": "e7b6c61e0593f269e375d841542d9f967259d8eb.pt",
+      "normalized_text": "Secure the roller with polished surface using your arms.",
+      "raw_texts": [
+        "Secure the roller with polished surface using your arms."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "e7bfef4a6f7720f78f2946039ece644be437f688",
+      "file": "e7bfef4a6f7720f78f2946039ece644be437f688.pt",
+      "normalized_text": "Take the long slim roller directly from the table.",
+      "raw_texts": [
+        "Take the long slim roller directly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e7dd4d2acad352b175541cc1167265fe731e4058",
+      "file": "e7dd4d2acad352b175541cc1167265fe731e4058.pt",
+      "normalized_text": "Secure the roller for rolling with both arms.",
+      "raw_texts": [
+        "Secure the roller for rolling with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e8b8e98f379889fe75a10b76952efacb6f10230a",
+      "file": "e8b8e98f379889fe75a10b76952efacb6f10230a.pt",
+      "normalized_text": "Grasp the narrow tapered roller firmly from the table.",
+      "raw_texts": [
+        "Grasp the narrow tapered roller firmly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e8df99a18709d3635e8f149d96ea4e03f05e3056",
+      "file": "e8df99a18709d3635e8f149d96ea4e03f05e3056.pt",
+      "normalized_text": "Grasp the wood roller on the table with arms.",
+      "raw_texts": [
+        "Grasp the wood roller on the table with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "e9e0bbb107abfbcfd693c082923af037ed2854e2",
+      "file": "e9e0bbb107abfbcfd693c082923af037ed2854e2.pt",
+      "normalized_text": "Lift the smooth cylindrical roller off the table with both arms",
+      "raw_texts": [
+        "Lift the smooth cylindrical roller off the table with both arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "eb34f42affe8194e8ba5e64d7512db810d2d0dba",
+      "file": "eb34f42affe8194e8ba5e64d7512db810d2d0dba.pt",
+      "normalized_text": "Use both arms to grip the roller with smooth texture tightly.",
+      "raw_texts": [
+        "Use both arms to grip the roller with smooth texture tightly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "ebf142860394b0a76e59668fe8722906a08be654",
+      "file": "ebf142860394b0a76e59668fe8722906a08be654.pt",
+      "normalized_text": "Grab the medium roller with narrower tips directly from the table.",
+      "raw_texts": [
+        "Grab the medium roller with narrower tips directly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "ec49c1c52624e6f5984fccc2d9cfe54ab198cf06",
+      "file": "ec49c1c52624e6f5984fccc2d9cfe54ab198cf06.pt",
+      "normalized_text": "Reach for the roller with smooth texture and hold it firmly",
+      "raw_texts": [
+        "Reach for the roller with smooth texture and hold it firmly"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "ed0e5690e1a508005c41241173a2341183998e96",
+      "file": "ed0e5690e1a508005c41241173a2341183998e96.pt",
+      "normalized_text": "Grasp the long slim roller firmly with arms.",
+      "raw_texts": [
+        "Grasp the long slim roller firmly with arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "edd85756c5d2d2ed6f5480884515b6fa53cde6d4",
+      "file": "edd85756c5d2d2ed6f5480884515b6fa53cde6d4.pt",
+      "normalized_text": "Grasp the roller for smoothing materials on the table.",
+      "raw_texts": [
+        "Grasp the roller for smoothing materials on the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "eec7170e801a601f763d21fb3b1c3be12e561dcc",
+      "file": "eec7170e801a601f763d21fb3b1c3be12e561dcc.pt",
+      "normalized_text": "Reach for the brown roller and grab it firmly.",
+      "raw_texts": [
+        "Reach for the brown roller and grab it firmly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "eed1baa8f57688fddf82193443c725449115cc92",
+      "file": "eed1baa8f57688fddf82193443c725449115cc92.pt",
+      "normalized_text": "Pick up the narrow tapered roller from the table directly.",
+      "raw_texts": [
+        "Pick up the narrow tapered roller from the table directly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "f04528255d7ef0a2372c3fb6795a8bd697566428",
+      "file": "f04528255d7ef0a2372c3fb6795a8bd697566428.pt",
+      "normalized_text": "Pick up the light brown wooden roller from the table.",
+      "raw_texts": [
+        "Pick up the light brown wooden roller from the table."
+      ],
+      "num_links": 3
+    },
+    {
+      "key": "f1252ed98616fcbccc788cfb00a5b3807fd3cf13",
+      "file": "f1252ed98616fcbccc788cfb00a5b3807fd3cf13.pt",
+      "normalized_text": "Take hold of the roller shaped like cylinder with both arms.",
+      "raw_texts": [
+        "Take hold of the roller shaped like cylinder with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "f14c1a48ccee41ddb2e321754b0fb4927192d84d",
+      "file": "f14c1a48ccee41ddb2e321754b0fb4927192d84d.pt",
+      "normalized_text": "Firmly grip the solid wood roller on the table now.",
+      "raw_texts": [
+        "Firmly grip the solid wood roller on the table now."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "f17265276b22a32dd1cf203344a7c39d5570fd16",
+      "file": "f17265276b22a32dd1cf203344a7c39d5570fd16.pt",
+      "normalized_text": "Reach out to grab the smooth light brown roller from the table",
+      "raw_texts": [
+        "Reach out to grab the smooth light brown roller from the table"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "f20cad071d894055132ac5d4aa9474306ece9da0",
+      "file": "f20cad071d894055132ac5d4aa9474306ece9da0.pt",
+      "normalized_text": "Use both arms to grab the roller with smooth texture.",
+      "raw_texts": [
+        "Use both arms to grab the roller with smooth texture."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "f24ef8e864418196f56838e6a2ab43798a9795ef",
+      "file": "f24ef8e864418196f56838e6a2ab43798a9795ef.pt",
+      "normalized_text": "Use arms to firmly grab the medium roller with narrower tips.",
+      "raw_texts": [
+        "Use arms to firmly grab the medium roller with narrower tips."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "f2f69de402a5da2f222a9567869c9df57fad6ab3",
+      "file": "f2f69de402a5da2f222a9567869c9df57fad6ab3.pt",
+      "normalized_text": "Hold the medium-sized roller firmly from the table.",
+      "raw_texts": [
+        "Hold the medium-sized roller firmly from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "f4fb4050a8531a4ed38b61697236d68f7f9c43d6",
+      "file": "f4fb4050a8531a4ed38b61697236d68f7f9c43d6.pt",
+      "normalized_text": "Firmly grip the roller with polished surface on the table now.",
+      "raw_texts": [
+        "Firmly grip the roller with polished surface on the table now."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "f516033523d961552c87b148955273e0e25fe3eb",
+      "file": "f516033523d961552c87b148955273e0e25fe3eb.pt",
+      "normalized_text": "Take hold of the wooden rolling tool with both arms.",
+      "raw_texts": [
+        "Take hold of the wooden rolling tool with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "f5fbb3347071503d26bacac2020977b483f78009",
+      "file": "f5fbb3347071503d26bacac2020977b483f78009.pt",
+      "normalized_text": "Pick up the long slim roller using both arms equally",
+      "raw_texts": [
+        "Pick up the long slim roller using both arms equally"
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "f644164ff590f9bb8ed563c476e625169d258529",
+      "file": "f644164ff590f9bb8ed563c476e625169d258529.pt",
+      "normalized_text": "Get hold of the roller with smooth texture using your arms",
+      "raw_texts": [
+        "Get hold of the roller with smooth texture using your arms"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "f6cec35c74b3fb33e2c9ee64b15ecbab07f9d0ae",
+      "file": "f6cec35c74b3fb33e2c9ee64b15ecbab07f9d0ae.pt",
+      "normalized_text": "Use both arms to grip the cylindrical roller with tapered ends tightly.",
+      "raw_texts": [
+        "Use both arms to grip the cylindrical roller with tapered ends tightly."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "f6e8c35651a2f458e287b634e38e78554ef7b6a6",
+      "file": "f6e8c35651a2f458e287b634e38e78554ef7b6a6.pt",
+      "normalized_text": "Grasp the wooden rolling tool on the table.",
+      "raw_texts": [
+        "Grasp the wooden rolling tool on the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "f770663ccef1ff88c472a0b8459c1a9768cb7c1a",
+      "file": "f770663ccef1ff88c472a0b8459c1a9768cb7c1a.pt",
+      "normalized_text": "Hold the wooden rolling tool with both arms to pick it up",
+      "raw_texts": [
+        "Hold the wooden rolling tool with both arms to pick it up"
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "f7a488781625d6d2e4482c7b8d1aeeaee29a260a",
+      "file": "f7a488781625d6d2e4482c7b8d1aeeaee29a260a.pt",
+      "normalized_text": "Use arms to firmly grab the slim wooden roller.",
+      "raw_texts": [
+        "Use arms to firmly grab the slim wooden roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "f8967688d001dd802e7217f4cd70ad78ca1a9bec",
+      "file": "f8967688d001dd802e7217f4cd70ad78ca1a9bec.pt",
+      "normalized_text": "Grasp the slim wooden roller firmly from the table.",
+      "raw_texts": [
+        "Grasp the slim wooden roller firmly from the table."
+      ],
+      "num_links": 2
+    },
+    {
+      "key": "f9bfb0e54945db244fe1ce563bdff9470df7255f",
+      "file": "f9bfb0e54945db244fe1ce563bdff9470df7255f.pt",
+      "normalized_text": "Use both arms to grip the smooth light brown roller tightly.",
+      "raw_texts": [
+        "Use both arms to grip the smooth light brown roller tightly."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "fc4cbe6af6f3154004e6de876ad7867028c8d5d7",
+      "file": "fc4cbe6af6f3154004e6de876ad7867028c8d5d7.pt",
+      "normalized_text": "Firmly grab the roller shaped like cylinder using arms.",
+      "raw_texts": [
+        "Firmly grab the roller shaped like cylinder using arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "fc5c7b50f5952ef542feb4ee1b2c6a61a37fde9a",
+      "file": "fc5c7b50f5952ef542feb4ee1b2c6a61a37fde9a.pt",
+      "normalized_text": "Pick up the wooden rolling tool from the table.",
+      "raw_texts": [
+        "Pick up the wooden rolling tool from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "fc67feaaa5bd9280cfaf560332c9a14e5c16a982",
+      "file": "fc67feaaa5bd9280cfaf560332c9a14e5c16a982.pt",
+      "normalized_text": "Hold the light brown wooden roller from the table.",
+      "raw_texts": [
+        "Hold the light brown wooden roller from the table."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "fc932b9065d2fdbace2a7fbc4dd2655d5219ed51",
+      "file": "fc932b9065d2fdbace2a7fbc4dd2655d5219ed51.pt",
+      "normalized_text": "Take both arms to grasp the brown roller.",
+      "raw_texts": [
+        "Take both arms to grasp the brown roller."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "fd0280e2a5ba341aef0c005bd99ea0b245b9e9e3",
+      "file": "fd0280e2a5ba341aef0c005bd99ea0b245b9e9e3.pt",
+      "normalized_text": "Hold the roller for rolling with both arms to pick it up",
+      "raw_texts": [
+        "Hold the roller for rolling with both arms to pick it up"
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "fdbd850419af09dfa4ad9fcfbb9b73ff41b5796c",
+      "file": "fdbd850419af09dfa4ad9fcfbb9b73ff41b5796c.pt",
+      "normalized_text": "Take hold of the roller for smoothing materials using your arms.",
+      "raw_texts": [
+        "Take hold of the roller for smoothing materials using your arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "fdf343ddc6750eaa2daf61e7533dd56b33e5c576",
+      "file": "fdf343ddc6750eaa2daf61e7533dd56b33e5c576.pt",
+      "normalized_text": "Secure the medium-sized roller with both arms.",
+      "raw_texts": [
+        "Secure the medium-sized roller with both arms."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "fe58e5c3be82382a8a800e5142a8d2000a265c0c",
+      "file": "fe58e5c3be82382a8a800e5142a8d2000a265c0c.pt",
+      "normalized_text": "Use arms to firmly grab the roller for smoothing materials.",
+      "raw_texts": [
+        "Use arms to firmly grab the roller for smoothing materials."
+      ],
+      "num_links": 1
+    },
+    {
+      "key": "fefb5fd9eeab6e743535d09b08218c3ed7ecd384",
+      "file": "fefb5fd9eeab6e743535d09b08218c3ed7ecd384.pt",
+      "normalized_text": "Bring both arms to grab the long slim roller.",
+      "raw_texts": [
+        "Bring both arms to grab the long slim roller."
+      ],
+      "num_links": 2
+    }
+  ]
+}
\ No newline at end of file
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/episodes.jsonl b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a7ed4cbd5bcfbd00241ed37156603dacd062d59d
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/episodes.jsonl
@@ -0,0 +1,500 @@
+{"episode_index": 0, "tasks": ["Reach for the roller with smooth texture and hold it firmly"], "length": 99, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "Reach for the roller with smooth texture and hold it firmly", "skill": ""}]}
+{"episode_index": 1, "tasks": ["Take hold of the roller for rolling with both arms."], "length": 90, "action_config": [{"start_frame": 0, "end_frame": 90, "action_text": "Take hold of the roller for rolling with both arms.", "skill": ""}]}
+{"episode_index": 2, "tasks": ["Reach for the wooden rolling tool and hold it firmly"], "length": 94, "action_config": [{"start_frame": 0, "end_frame": 94, "action_text": "Reach for the wooden rolling tool and hold it firmly", "skill": ""}]}
+{"episode_index": 3, "tasks": ["Lift the medium roller with narrower tips from its place on the table"], "length": 100, "action_config": [{"start_frame": 0, "end_frame": 100, "action_text": "Lift the medium roller with narrower tips from its place on the table", "skill": ""}]}
+{"episode_index": 4, "tasks": ["Grasp the long slim roller on the table."], "length": 100, "action_config": [{"start_frame": 0, "end_frame": 100, "action_text": "Grasp the long slim roller on the table.", "skill": ""}]}
+{"episode_index": 5, "tasks": ["Secure the light wood roller using your arms."], "length": 101, "action_config": [{"start_frame": 0, "end_frame": 101, "action_text": "Secure the light wood roller using your arms.", "skill": ""}]}
+{"episode_index": 6, "tasks": ["Grab the roller with smooth and shiny texture directly from the table."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Grab the roller with smooth and shiny texture directly from the table.", "skill": ""}]}
+{"episode_index": 7, "tasks": ["Take hold of the brown roller with arms."], "length": 97, "action_config": [{"start_frame": 0, "end_frame": 97, "action_text": "Take hold of the brown roller with arms.", "skill": ""}]}
+{"episode_index": 8, "tasks": ["Pick up the slim wooden roller using both arms."], "length": 88, "action_config": [{"start_frame": 0, "end_frame": 88, "action_text": "Pick up the slim wooden roller using both arms.", "skill": ""}]}
+{"episode_index": 9, "tasks": ["Grab the narrow tapered roller placed on the table."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Grab the narrow tapered roller placed on the table.", "skill": ""}]}
+{"episode_index": 10, "tasks": ["Hold the smooth cylindrical roller firmly from the table."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Hold the smooth cylindrical roller firmly from the table.", "skill": ""}]}
+{"episode_index": 11, "tasks": ["Both arms should grab the brown roller now."], "length": 92, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "Both arms should grab the brown roller now.", "skill": ""}]}
+{"episode_index": 12, "tasks": ["Bring both arms to grab the roller shaped like cylinder."], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Bring both arms to grab the roller shaped like cylinder.", "skill": ""}]}
+{"episode_index": 13, "tasks": ["Pick up the smooth light brown roller from the table directly."], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Pick up the smooth light brown roller from the table directly.", "skill": ""}]}
+{"episode_index": 14, "tasks": ["Secure the roller shaped like cylinder using your arms."], "length": 90, "action_config": [{"start_frame": 0, "end_frame": 90, "action_text": "Secure the roller shaped like cylinder using your arms.", "skill": ""}]}
+{"episode_index": 15, "tasks": ["Lift the light wood roller from the table carefully."], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Lift the light wood roller from the table carefully.", "skill": ""}]}
+{"episode_index": 16, "tasks": ["Pick up the solid wood roller using both arms equally"], "length": 106, "action_config": [{"start_frame": 0, "end_frame": 106, "action_text": "Pick up the solid wood roller using both arms equally", "skill": ""}]}
+{"episode_index": 17, "tasks": ["Reach for the wood roller and grab it firmly."], "length": 89, "action_config": [{"start_frame": 0, "end_frame": 89, "action_text": "Reach for the wood roller and grab it firmly.", "skill": ""}]}
+{"episode_index": 18, "tasks": ["Bring both arms to grab the long slim roller."], "length": 90, "action_config": [{"start_frame": 0, "end_frame": 90, "action_text": "Bring both arms to grab the long slim roller.", "skill": ""}]}
+{"episode_index": 19, "tasks": ["Secure the narrow tapered roller on the table using arms."], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Secure the narrow tapered roller on the table using arms.", "skill": ""}]}
+{"episode_index": 20, "tasks": ["Take the light brown roller directly from the table."], "length": 92, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "Take the light brown roller directly from the table.", "skill": ""}]}
+{"episode_index": 21, "tasks": ["Lift the cylindrical roller with tapered ends from the table carefully."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Lift the cylindrical roller with tapered ends from the table carefully.", "skill": ""}]}
+{"episode_index": 22, "tasks": ["Pick up the narrow tapered roller from the table."], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Pick up the narrow tapered roller from the table.", "skill": ""}]}
+{"episode_index": 23, "tasks": ["Bring both arms to grab the slim wooden roller."], "length": 93, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "Bring both arms to grab the slim wooden roller.", "skill": ""}]}
+{"episode_index": 24, "tasks": ["Use both arms to grip the medium roller with narrower tips tightly."], "length": 94, "action_config": [{"start_frame": 0, "end_frame": 94, "action_text": "Use both arms to grip the medium roller with narrower tips tightly.", "skill": ""}]}
+{"episode_index": 25, "tasks": ["Firmly grab the slim wooden roller using arms."], "length": 92, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "Firmly grab the slim wooden roller using arms.", "skill": ""}]}
+{"episode_index": 26, "tasks": ["Hold the roller with polished surface on the table with hands."], "length": 97, "action_config": [{"start_frame": 0, "end_frame": 97, "action_text": "Hold the roller with polished surface on the table with hands.", "skill": ""}]}
+{"episode_index": 27, "tasks": ["Take both arms to grasp the roller for smoothing materials."], "length": 91, "action_config": [{"start_frame": 0, "end_frame": 91, "action_text": "Take both arms to grasp the roller for smoothing materials.", "skill": ""}]}
+{"episode_index": 28, "tasks": ["Firmly grab the palm-length roller using arms."], "length": 102, "action_config": [{"start_frame": 0, "end_frame": 102, "action_text": "Firmly grab the palm-length roller using arms.", "skill": ""}]}
+{"episode_index": 29, "tasks": ["Both arms should grab the light brown wooden roller now."], "length": 90, "action_config": [{"start_frame": 0, "end_frame": 90, "action_text": "Both arms should grab the light brown wooden roller now.", "skill": ""}]}
+{"episode_index": 30, "tasks": ["Reach for the medium-sized roller and grab it firmly."], "length": 99, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "Reach for the medium-sized roller and grab it firmly.", "skill": ""}]}
+{"episode_index": 31, "tasks": ["Lift the roller shaped like cylinder from its place on the table"], "length": 98, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "Lift the roller shaped like cylinder from its place on the table", "skill": ""}]}
+{"episode_index": 32, "tasks": ["Reach for the smooth light brown roller and hold it firmly"], "length": 101, "action_config": [{"start_frame": 0, "end_frame": 101, "action_text": "Reach for the smooth light brown roller and hold it firmly", "skill": ""}]}
+{"episode_index": 33, "tasks": ["Firmly grab the solid wood roller using arms."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Firmly grab the solid wood roller using arms.", "skill": ""}]}
+{"episode_index": 34, "tasks": ["Grab the light wood roller placed on the table."], "length": 94, "action_config": [{"start_frame": 0, "end_frame": 94, "action_text": "Grab the light wood roller placed on the table.", "skill": ""}]}
+{"episode_index": 35, "tasks": ["Hold the slim wooden roller with both arms to pick it up"], "length": 86, "action_config": [{"start_frame": 0, "end_frame": 86, "action_text": "Hold the slim wooden roller with both arms to pick it up", "skill": ""}]}
+{"episode_index": 36, "tasks": ["Hold the narrow tapered roller firmly from the table."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Hold the narrow tapered roller firmly from the table.", "skill": ""}]}
+{"episode_index": 37, "tasks": ["Use both arms to grip the medium roller with narrower tips tightly."], "length": 91, "action_config": [{"start_frame": 0, "end_frame": 91, "action_text": "Use both arms to grip the medium roller with narrower tips tightly.", "skill": ""}]}
+{"episode_index": 38, "tasks": ["Securely grab the solid wood roller using both arms."], "length": 103, "action_config": [{"start_frame": 0, "end_frame": 103, "action_text": "Securely grab the solid wood roller using both arms.", "skill": ""}]}
+{"episode_index": 39, "tasks": ["Pick up the medium roller with narrower tips using both arms."], "length": 97, "action_config": [{"start_frame": 0, "end_frame": 97, "action_text": "Pick up the medium roller with narrower tips using both arms.", "skill": ""}]}
+{"episode_index": 40, "tasks": ["Lift the roller with smooth texture from the table."], "length": 94, "action_config": [{"start_frame": 0, "end_frame": 94, "action_text": "Lift the roller with smooth texture from the table.", "skill": ""}]}
+{"episode_index": 41, "tasks": ["Grasp the roller with smooth texture on the table with arms."], "length": 94, "action_config": [{"start_frame": 0, "end_frame": 94, "action_text": "Grasp the roller with smooth texture on the table with arms.", "skill": ""}]}
+{"episode_index": 42, "tasks": ["Take the slim wooden roller directly from the table."], "length": 92, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "Take the slim wooden roller directly from the table.", "skill": ""}]}
+{"episode_index": 43, "tasks": ["Hold the roller for rolling firmly from the table."], "length": 98, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "Hold the roller for rolling firmly from the table.", "skill": ""}]}
+{"episode_index": 44, "tasks": ["Hold the wooden rolling tool with both arms to pick it up"], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Hold the wooden rolling tool with both arms to pick it up", "skill": ""}]}
+{"episode_index": 45, "tasks": ["Reach out to grab the roller shaped like cylinder from the table"], "length": 99, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "Reach out to grab the roller shaped like cylinder from the table", "skill": ""}]}
+{"episode_index": 46, "tasks": ["Secure the roller with polished surface from the table using arms"], "length": 100, "action_config": [{"start_frame": 0, "end_frame": 100, "action_text": "Secure the roller with polished surface from the table using arms", "skill": ""}]}
+{"episode_index": 47, "tasks": ["Lift the smooth cylindrical roller off the table with both arms"], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Lift the smooth cylindrical roller off the table with both arms", "skill": ""}]}
+{"episode_index": 48, "tasks": ["Use arms to hold the narrow tapered roller tightly."], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Use arms to hold the narrow tapered roller tightly.", "skill": ""}]}
+{"episode_index": 49, "tasks": ["Grasp the narrow tapered roller firmly from the table."], "length": 98, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "Grasp the narrow tapered roller firmly from the table.", "skill": ""}]}
+{"episode_index": 50, "tasks": ["Grasp the brown roller on the table with arms."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Grasp the brown roller on the table with arms.", "skill": ""}]}
+{"episode_index": 51, "tasks": ["Take hold of the narrow tapered roller."], "length": 97, "action_config": [{"start_frame": 0, "end_frame": 97, "action_text": "Take hold of the narrow tapered roller.", "skill": ""}]}
+{"episode_index": 52, "tasks": ["Lift the light brown roller with your arms."], "length": 91, "action_config": [{"start_frame": 0, "end_frame": 91, "action_text": "Lift the light brown roller with your arms.", "skill": ""}]}
+{"episode_index": 53, "tasks": ["Get hold of the light brown wooden roller using your arms"], "length": 93, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "Get hold of the light brown wooden roller using your arms", "skill": ""}]}
+{"episode_index": 54, "tasks": ["Secure the slim wooden roller on the table using arms."], "length": 100, "action_config": [{"start_frame": 0, "end_frame": 100, "action_text": "Secure the slim wooden roller on the table using arms.", "skill": ""}]}
+{"episode_index": 55, "tasks": ["Take both arms to grasp the medium roller with narrower tips."], "length": 88, "action_config": [{"start_frame": 0, "end_frame": 88, "action_text": "Take both arms to grasp the medium roller with narrower tips.", "skill": ""}]}
+{"episode_index": 56, "tasks": ["Use arms to firmly grab the wood roller."], "length": 91, "action_config": [{"start_frame": 0, "end_frame": 91, "action_text": "Use arms to firmly grab the wood roller.", "skill": ""}]}
+{"episode_index": 57, "tasks": ["Secure the brown roller with both arms."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Secure the brown roller with both arms.", "skill": ""}]}
+{"episode_index": 58, "tasks": ["Reach out to grab the roller for rolling from the table"], "length": 100, "action_config": [{"start_frame": 0, "end_frame": 100, "action_text": "Reach out to grab the roller for rolling from the table", "skill": ""}]}
+{"episode_index": 59, "tasks": ["Secure the light brown roller with both arms."], "length": 91, "action_config": [{"start_frame": 0, "end_frame": 91, "action_text": "Secure the light brown roller with both arms.", "skill": ""}]}
+{"episode_index": 60, "tasks": ["Secure the roller shaped like cylinder using your arms."], "length": 94, "action_config": [{"start_frame": 0, "end_frame": 94, "action_text": "Secure the roller shaped like cylinder using your arms.", "skill": ""}]}
+{"episode_index": 61, "tasks": ["Take hold of the medium-sized roller with arms."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Take hold of the medium-sized roller with arms.", "skill": ""}]}
+{"episode_index": 62, "tasks": ["Lift the medium roller with narrower tips from its place on the table"], "length": 92, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "Lift the medium roller with narrower tips from its place on the table", "skill": ""}]}
+{"episode_index": 63, "tasks": ["Grasp the slim wooden roller firmly from the table."], "length": 99, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "Grasp the slim wooden roller firmly from the table.", "skill": ""}]}
+{"episode_index": 64, "tasks": ["Hold the wooden rolling tool on the table with hands."], "length": 93, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "Hold the wooden rolling tool on the table with hands.", "skill": ""}]}
+{"episode_index": 65, "tasks": ["Take hold of the slim wooden roller."], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Take hold of the slim wooden roller.", "skill": ""}]}
+{"episode_index": 66, "tasks": ["Lift the roller with polished surface from the table."], "length": 97, "action_config": [{"start_frame": 0, "end_frame": 97, "action_text": "Lift the roller with polished surface from the table.", "skill": ""}]}
+{"episode_index": 67, "tasks": ["Grasp the roller with smooth texture on the table."], "length": 90, "action_config": [{"start_frame": 0, "end_frame": 90, "action_text": "Grasp the roller with smooth texture on the table.", "skill": ""}]}
+{"episode_index": 68, "tasks": ["Take hold of the light wood roller with arms."], "length": 89, "action_config": [{"start_frame": 0, "end_frame": 89, "action_text": "Take hold of the light wood roller with arms.", "skill": ""}]}
+{"episode_index": 69, "tasks": ["Grab the slim wooden roller directly from the table."], "length": 94, "action_config": [{"start_frame": 0, "end_frame": 94, "action_text": "Grab the slim wooden roller directly from the table.", "skill": ""}]}
+{"episode_index": 70, "tasks": ["Hold the smooth light brown roller with both arms to pick it up"], "length": 98, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "Hold the smooth light brown roller with both arms to pick it up", "skill": ""}]}
+{"episode_index": 71, "tasks": ["Take hold of the cylindrical roller with tapered ends using your arms."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Take hold of the cylindrical roller with tapered ends using your arms.", "skill": ""}]}
+{"episode_index": 72, "tasks": ["Take both arms to grasp the roller with smooth texture."], "length": 93, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "Take both arms to grasp the roller with smooth texture.", "skill": ""}]}
+{"episode_index": 73, "tasks": ["Get hold of the light brown wooden roller using your arms"], "length": 98, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "Get hold of the light brown wooden roller using your arms", "skill": ""}]}
+{"episode_index": 74, "tasks": ["Take both arms to grasp the roller shaped like cylinder."], "length": 99, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "Take both arms to grasp the roller shaped like cylinder.", "skill": ""}]}
+{"episode_index": 75, "tasks": ["Take hold of the solid wood roller."], "length": 94, "action_config": [{"start_frame": 0, "end_frame": 94, "action_text": "Take hold of the solid wood roller.", "skill": ""}]}
+{"episode_index": 76, "tasks": ["Take hold of the roller with polished surface."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Take hold of the roller with polished surface.", "skill": ""}]}
+{"episode_index": 77, "tasks": ["Bring both arms to grab the roller shaped like cylinder."], "length": 92, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "Bring both arms to grab the roller shaped like cylinder.", "skill": ""}]}
+{"episode_index": 78, "tasks": ["Take hold of the palm-sized roller using your arms."], "length": 93, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "Take hold of the palm-sized roller using your arms.", "skill": ""}]}
+{"episode_index": 79, "tasks": ["Lift the medium roller with narrower tips with your arms."], "length": 92, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "Lift the medium roller with narrower tips with your arms.", "skill": ""}]}
+{"episode_index": 80, "tasks": ["Secure the long slim roller on the table using arms."], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Secure the long slim roller on the table using arms.", "skill": ""}]}
+{"episode_index": 81, "tasks": ["Secure the roller with smooth and shiny texture using your arms."], "length": 94, "action_config": [{"start_frame": 0, "end_frame": 94, "action_text": "Secure the roller with smooth and shiny texture using your arms.", "skill": ""}]}
+{"episode_index": 82, "tasks": ["Firmly grab the roller shaped like cylinder using arms."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Firmly grab the roller shaped like cylinder using arms.", "skill": ""}]}
+{"episode_index": 83, "tasks": ["Hold the slim wooden roller on the table with hands."], "length": 91, "action_config": [{"start_frame": 0, "end_frame": 91, "action_text": "Hold the slim wooden roller on the table with hands.", "skill": ""}]}
+{"episode_index": 84, "tasks": ["Lift the roller with smooth and shiny texture from the table."], "length": 87, "action_config": [{"start_frame": 0, "end_frame": 87, "action_text": "Lift the roller with smooth and shiny texture from the table.", "skill": ""}]}
+{"episode_index": 85, "tasks": ["Take the brown roller directly from the table."], "length": 92, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "Take the brown roller directly from the table.", "skill": ""}]}
+{"episode_index": 86, "tasks": ["Grasp the roller for rolling on the table."], "length": 93, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "Grasp the roller for rolling on the table.", "skill": ""}]}
+{"episode_index": 87, "tasks": ["Secure the medium roller with narrower tips from the table using arms"], "length": 99, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "Secure the medium roller with narrower tips from the table using arms", "skill": ""}]}
+{"episode_index": 88, "tasks": ["Pick up the cylindrical roller from the table."], "length": 98, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "Pick up the cylindrical roller from the table.", "skill": ""}]}
+{"episode_index": 89, "tasks": ["Bring both arms to grab the light brown wooden roller."], "length": 91, "action_config": [{"start_frame": 0, "end_frame": 91, "action_text": "Bring both arms to grab the light brown wooden roller.", "skill": ""}]}
+{"episode_index": 90, "tasks": ["Grip the medium roller with narrower tips firmly with arms."], "length": 99, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "Grip the medium roller with narrower tips firmly with arms.", "skill": ""}]}
+{"episode_index": 91, "tasks": ["Use both arms to grab the palm-length roller."], "length": 97, "action_config": [{"start_frame": 0, "end_frame": 97, "action_text": "Use both arms to grab the palm-length roller.", "skill": ""}]}
+{"episode_index": 92, "tasks": ["Grab the wood roller directly from the table."], "length": 94, "action_config": [{"start_frame": 0, "end_frame": 94, "action_text": "Grab the wood roller directly from the table.", "skill": ""}]}
+{"episode_index": 93, "tasks": ["Grasp the light wood roller on the table."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Grasp the light wood roller on the table.", "skill": ""}]}
+{"episode_index": 94, "tasks": ["Use arms to firmly grab the medium roller with narrower tips."], "length": 98, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "Use arms to firmly grab the medium roller with narrower tips.", "skill": ""}]}
+{"episode_index": 95, "tasks": ["Get hold of the smooth light brown roller using your arms"], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Get hold of the smooth light brown roller using your arms", "skill": ""}]}
+{"episode_index": 96, "tasks": ["Reach for the cylindrical roller with tapered ends and grab it firmly."], "length": 93, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "Reach for the cylindrical roller with tapered ends and grab it firmly.", "skill": ""}]}
+{"episode_index": 97, "tasks": ["Grasp the medium-sized roller on the table with arms."], "length": 92, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "Grasp the medium-sized roller on the table with arms.", "skill": ""}]}
+{"episode_index": 98, "tasks": ["Reach out to grab the smooth light brown roller from the table"], "length": 97, "action_config": [{"start_frame": 0, "end_frame": 97, "action_text": "Reach out to grab the smooth light brown roller from the table", "skill": ""}]}
+{"episode_index": 99, "tasks": ["Secure the wooden rolling tool from the table using arms"], "length": 97, "action_config": [{"start_frame": 0, "end_frame": 97, "action_text": "Secure the wooden rolling tool from the table using arms", "skill": ""}]}
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+{"episode_index": 415, "tasks": ["Get hold of the palm-sized roller using your arms"], "length": 99, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "Get hold of the palm-sized roller using your arms", "skill": ""}]}
+{"episode_index": 416, "tasks": ["Lift the smooth light brown roller from the table carefully."], "length": 99, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "Lift the smooth light brown roller from the table carefully.", "skill": ""}]}
+{"episode_index": 417, "tasks": ["Reach for the narrow tapered roller and grab it firmly."], "length": 91, "action_config": [{"start_frame": 0, "end_frame": 91, "action_text": "Reach for the narrow tapered roller and grab it firmly.", "skill": ""}]}
+{"episode_index": 418, "tasks": ["Hold the wood roller firmly from the table."], "length": 97, "action_config": [{"start_frame": 0, "end_frame": 97, "action_text": "Hold the wood roller firmly from the table.", "skill": ""}]}
+{"episode_index": 419, "tasks": ["Grasp the long slim roller on the table."], "length": 93, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "Grasp the long slim roller on the table.", "skill": ""}]}
+{"episode_index": 420, "tasks": ["Hold the smooth light brown roller firmly from the table."], "length": 98, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "Hold the smooth light brown roller firmly from the table.", "skill": ""}]}
+{"episode_index": 421, "tasks": ["Secure the palm-length roller with both arms."], "length": 91, "action_config": [{"start_frame": 0, "end_frame": 91, "action_text": "Secure the palm-length roller with both arms.", "skill": ""}]}
+{"episode_index": 422, "tasks": ["Reach for the long slim roller and grab it firmly."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Reach for the long slim roller and grab it firmly.", "skill": ""}]}
+{"episode_index": 423, "tasks": ["Lift the roller with smooth texture from the table."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Lift the roller with smooth texture from the table.", "skill": ""}]}
+{"episode_index": 424, "tasks": ["Lift the roller for smoothing materials off the table with both arms"], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Lift the roller for smoothing materials off the table with both arms", "skill": ""}]}
+{"episode_index": 425, "tasks": ["Grasp the solid wood roller firmly from the table."], "length": 92, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "Grasp the solid wood roller firmly from the table.", "skill": ""}]}
+{"episode_index": 426, "tasks": ["Grip the cylindrical roller firmly with arms."], "length": 89, "action_config": [{"start_frame": 0, "end_frame": 89, "action_text": "Grip the cylindrical roller firmly with arms.", "skill": ""}]}
+{"episode_index": 427, "tasks": ["Pick up the long slim roller using both arms equally"], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Pick up the long slim roller using both arms equally", "skill": ""}]}
+{"episode_index": 428, "tasks": ["Take hold of the solid wood roller with arms."], "length": 99, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "Take hold of the solid wood roller with arms.", "skill": ""}]}
+{"episode_index": 429, "tasks": ["Use both arms to grab the cylindrical roller with tapered ends."], "length": 92, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "Use both arms to grab the cylindrical roller with tapered ends.", "skill": ""}]}
+{"episode_index": 430, "tasks": ["Grip the brown roller firmly with arms."], "length": 93, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "Grip the brown roller firmly with arms.", "skill": ""}]}
+{"episode_index": 431, "tasks": ["Firmly grip the long slim roller on the table now."], "length": 87, "action_config": [{"start_frame": 0, "end_frame": 87, "action_text": "Firmly grip the long slim roller on the table now.", "skill": ""}]}
+{"episode_index": 432, "tasks": ["Take hold of the roller with smooth texture."], "length": 94, "action_config": [{"start_frame": 0, "end_frame": 94, "action_text": "Take hold of the roller with smooth texture.", "skill": ""}]}
+{"episode_index": 433, "tasks": ["Pick up the smooth cylindrical roller using both arms equally"], "length": 99, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "Pick up the smooth cylindrical roller using both arms equally", "skill": ""}]}
+{"episode_index": 434, "tasks": ["Both arms should grab the narrow tapered roller now."], "length": 86, "action_config": [{"start_frame": 0, "end_frame": 86, "action_text": "Both arms should grab the narrow tapered roller now.", "skill": ""}]}
+{"episode_index": 435, "tasks": ["Grip the brown roller firmly with arms."], "length": 100, "action_config": [{"start_frame": 0, "end_frame": 100, "action_text": "Grip the brown roller firmly with arms.", "skill": ""}]}
+{"episode_index": 436, "tasks": ["Lift the cylindrical roller with tapered ends with your arms."], "length": 97, "action_config": [{"start_frame": 0, "end_frame": 97, "action_text": "Lift the cylindrical roller with tapered ends with your arms.", "skill": ""}]}
+{"episode_index": 437, "tasks": ["Take hold of the light brown wooden roller with both arms."], "length": 94, "action_config": [{"start_frame": 0, "end_frame": 94, "action_text": "Take hold of the light brown wooden roller with both arms.", "skill": ""}]}
+{"episode_index": 438, "tasks": ["Take both arms to grasp the brown roller."], "length": 101, "action_config": [{"start_frame": 0, "end_frame": 101, "action_text": "Take both arms to grasp the brown roller.", "skill": ""}]}
+{"episode_index": 439, "tasks": ["Grab the cylindrical roller with tapered ends placed on the table."], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Grab the cylindrical roller with tapered ends placed on the table.", "skill": ""}]}
+{"episode_index": 440, "tasks": ["Both arms should grab the light wood roller now."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Both arms should grab the light wood roller now.", "skill": ""}]}
+{"episode_index": 441, "tasks": ["Securely grab the cylindrical roller using both arms."], "length": 93, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "Securely grab the cylindrical roller using both arms.", "skill": ""}]}
+{"episode_index": 442, "tasks": ["Pick up the light wood roller from the table."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Pick up the light wood roller from the table.", "skill": ""}]}
+{"episode_index": 443, "tasks": ["Lift the smooth light brown roller from the table carefully."], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Lift the smooth light brown roller from the table carefully.", "skill": ""}]}
+{"episode_index": 444, "tasks": ["Get hold of the wooden rolling tool using your arms"], "length": 90, "action_config": [{"start_frame": 0, "end_frame": 90, "action_text": "Get hold of the wooden rolling tool using your arms", "skill": ""}]}
+{"episode_index": 445, "tasks": ["Firmly grab the wooden rolling tool using arms."], "length": 98, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "Firmly grab the wooden rolling tool using arms.", "skill": ""}]}
+{"episode_index": 446, "tasks": ["Use both arms to grip the roller for smoothing materials tightly."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Use both arms to grip the roller for smoothing materials tightly.", "skill": ""}]}
+{"episode_index": 447, "tasks": ["Both arms should grab the palm-sized roller now."], "length": 92, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "Both arms should grab the palm-sized roller now.", "skill": ""}]}
+{"episode_index": 448, "tasks": ["Lift the roller with smooth and shiny texture with your arms."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Lift the roller with smooth and shiny texture with your arms.", "skill": ""}]}
+{"episode_index": 449, "tasks": ["Use arms to hold the light brown roller tightly."], "length": 91, "action_config": [{"start_frame": 0, "end_frame": 91, "action_text": "Use arms to hold the light brown roller tightly.", "skill": ""}]}
+{"episode_index": 450, "tasks": ["Firmly grab the cylindrical roller using arms."], "length": 90, "action_config": [{"start_frame": 0, "end_frame": 90, "action_text": "Firmly grab the cylindrical roller using arms.", "skill": ""}]}
+{"episode_index": 451, "tasks": ["Hold the medium-sized roller firmly from the table."], "length": 88, "action_config": [{"start_frame": 0, "end_frame": 88, "action_text": "Hold the medium-sized roller firmly from the table.", "skill": ""}]}
+{"episode_index": 452, "tasks": ["Bring both arms to grab the narrow tapered roller."], "length": 92, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "Bring both arms to grab the narrow tapered roller.", "skill": ""}]}
+{"episode_index": 453, "tasks": ["Use arms to hold the smooth cylindrical roller tightly."], "length": 91, "action_config": [{"start_frame": 0, "end_frame": 91, "action_text": "Use arms to hold the smooth cylindrical roller tightly.", "skill": ""}]}
+{"episode_index": 454, "tasks": ["Secure the wooden rolling tool on the table using arms."], "length": 99, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "Secure the wooden rolling tool on the table using arms.", "skill": ""}]}
+{"episode_index": 455, "tasks": ["Take hold of the slim wooden roller."], "length": 89, "action_config": [{"start_frame": 0, "end_frame": 89, "action_text": "Take hold of the slim wooden roller.", "skill": ""}]}
+{"episode_index": 456, "tasks": ["Use both arms to grip the palm-length roller tightly."], "length": 92, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "Use both arms to grip the palm-length roller tightly.", "skill": ""}]}
+{"episode_index": 457, "tasks": ["Secure the light brown roller with both arms."], "length": 101, "action_config": [{"start_frame": 0, "end_frame": 101, "action_text": "Secure the light brown roller with both arms.", "skill": ""}]}
+{"episode_index": 458, "tasks": ["Grasp the wood roller firmly with arms."], "length": 100, "action_config": [{"start_frame": 0, "end_frame": 100, "action_text": "Grasp the wood roller firmly with arms.", "skill": ""}]}
+{"episode_index": 459, "tasks": ["Lift the long slim roller from its place on the table"], "length": 94, "action_config": [{"start_frame": 0, "end_frame": 94, "action_text": "Lift the long slim roller from its place on the table", "skill": ""}]}
+{"episode_index": 460, "tasks": ["Pick up the roller with smooth and shiny texture from the table directly."], "length": 87, "action_config": [{"start_frame": 0, "end_frame": 87, "action_text": "Pick up the roller with smooth and shiny texture from the table directly.", "skill": ""}]}
+{"episode_index": 461, "tasks": ["Use both arms to grip the roller shaped like cylinder tightly."], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Use both arms to grip the roller shaped like cylinder tightly.", "skill": ""}]}
+{"episode_index": 462, "tasks": ["Secure the light brown roller using your arms."], "length": 92, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "Secure the light brown roller using your arms.", "skill": ""}]}
+{"episode_index": 463, "tasks": ["Take the palm-length roller directly from the table."], "length": 98, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "Take the palm-length roller directly from the table.", "skill": ""}]}
+{"episode_index": 464, "tasks": ["Lift the long slim roller off the table with both arms"], "length": 89, "action_config": [{"start_frame": 0, "end_frame": 89, "action_text": "Lift the long slim roller off the table with both arms", "skill": ""}]}
+{"episode_index": 465, "tasks": ["Take the solid wood roller directly from the table."], "length": 89, "action_config": [{"start_frame": 0, "end_frame": 89, "action_text": "Take the solid wood roller directly from the table.", "skill": ""}]}
+{"episode_index": 466, "tasks": ["Hold the roller for rolling on the table with hands."], "length": 100, "action_config": [{"start_frame": 0, "end_frame": 100, "action_text": "Hold the roller for rolling on the table with hands.", "skill": ""}]}
+{"episode_index": 467, "tasks": ["Lift the long slim roller from the table."], "length": 88, "action_config": [{"start_frame": 0, "end_frame": 88, "action_text": "Lift the long slim roller from the table.", "skill": ""}]}
+{"episode_index": 468, "tasks": ["Take hold of the roller for smoothing materials using your arms."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Take hold of the roller for smoothing materials using your arms.", "skill": ""}]}
+{"episode_index": 469, "tasks": ["Hold the narrow tapered roller with both arms to pick it up"], "length": 88, "action_config": [{"start_frame": 0, "end_frame": 88, "action_text": "Hold the narrow tapered roller with both arms to pick it up", "skill": ""}]}
+{"episode_index": 470, "tasks": ["Firmly grab the brown roller using arms."], "length": 109, "action_config": [{"start_frame": 0, "end_frame": 109, "action_text": "Firmly grab the brown roller using arms.", "skill": ""}]}
+{"episode_index": 471, "tasks": ["Use both arms to grab the narrow tapered roller."], "length": 93, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "Use both arms to grab the narrow tapered roller.", "skill": ""}]}
+{"episode_index": 472, "tasks": ["Grab the long slim roller directly from the table."], "length": 93, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "Grab the long slim roller directly from the table.", "skill": ""}]}
+{"episode_index": 473, "tasks": ["Secure the medium-sized roller from the table using arms"], "length": 93, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "Secure the medium-sized roller from the table using arms", "skill": ""}]}
+{"episode_index": 474, "tasks": ["Take both arms to grasp the roller with smooth texture."], "length": 97, "action_config": [{"start_frame": 0, "end_frame": 97, "action_text": "Take both arms to grasp the roller with smooth texture.", "skill": ""}]}
+{"episode_index": 475, "tasks": ["Bring both arms to grab the palm-length roller."], "length": 93, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "Bring both arms to grab the palm-length roller.", "skill": ""}]}
+{"episode_index": 476, "tasks": ["Secure the medium-sized roller with both arms."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Secure the medium-sized roller with both arms.", "skill": ""}]}
+{"episode_index": 477, "tasks": ["Secure the roller with smooth and shiny texture with both arms."], "length": 98, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "Secure the roller with smooth and shiny texture with both arms.", "skill": ""}]}
+{"episode_index": 478, "tasks": ["Grasp the wood roller on the table."], "length": 101, "action_config": [{"start_frame": 0, "end_frame": 101, "action_text": "Grasp the wood roller on the table.", "skill": ""}]}
+{"episode_index": 479, "tasks": ["Use arms to firmly grab the palm-sized roller."], "length": 94, "action_config": [{"start_frame": 0, "end_frame": 94, "action_text": "Use arms to firmly grab the palm-sized roller.", "skill": ""}]}
+{"episode_index": 480, "tasks": ["Take hold of the narrow tapered roller."], "length": 100, "action_config": [{"start_frame": 0, "end_frame": 100, "action_text": "Take hold of the narrow tapered roller.", "skill": ""}]}
+{"episode_index": 481, "tasks": ["Securely grab the roller for rolling using both arms."], "length": 100, "action_config": [{"start_frame": 0, "end_frame": 100, "action_text": "Securely grab the roller for rolling using both arms.", "skill": ""}]}
+{"episode_index": 482, "tasks": ["Grasp the wooden rolling tool firmly with arms."], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Grasp the wooden rolling tool firmly with arms.", "skill": ""}]}
+{"episode_index": 483, "tasks": ["Use both arms to grab the wood roller."], "length": 92, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "Use both arms to grab the wood roller.", "skill": ""}]}
+{"episode_index": 484, "tasks": ["Firmly grab the palm-length roller using arms."], "length": 101, "action_config": [{"start_frame": 0, "end_frame": 101, "action_text": "Firmly grab the palm-length roller using arms.", "skill": ""}]}
+{"episode_index": 485, "tasks": ["Reach out to grab the light wood roller from the table"], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Reach out to grab the light wood roller from the table", "skill": ""}]}
+{"episode_index": 486, "tasks": ["Hold the wooden rolling tool on the table with hands."], "length": 91, "action_config": [{"start_frame": 0, "end_frame": 91, "action_text": "Hold the wooden rolling tool on the table with hands.", "skill": ""}]}
+{"episode_index": 487, "tasks": ["Hold the cylindrical roller firmly from the table."], "length": 95, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "Hold the cylindrical roller firmly from the table.", "skill": ""}]}
+{"episode_index": 488, "tasks": ["Secure the medium roller with narrower tips with both arms."], "length": 97, "action_config": [{"start_frame": 0, "end_frame": 97, "action_text": "Secure the medium roller with narrower tips with both arms.", "skill": ""}]}
+{"episode_index": 489, "tasks": ["Grasp the palm-length roller on the table with arms."], "length": 94, "action_config": [{"start_frame": 0, "end_frame": 94, "action_text": "Grasp the palm-length roller on the table with arms.", "skill": ""}]}
+{"episode_index": 490, "tasks": ["Hold the wood roller from the table."], "length": 98, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "Hold the wood roller from the table.", "skill": ""}]}
+{"episode_index": 491, "tasks": ["Hold the solid wood roller firmly from the table."], "length": 97, "action_config": [{"start_frame": 0, "end_frame": 97, "action_text": "Hold the solid wood roller firmly from the table.", "skill": ""}]}
+{"episode_index": 492, "tasks": ["Securely grab the medium roller with narrower tips using both arms."], "length": 96, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "Securely grab the medium roller with narrower tips using both arms.", "skill": ""}]}
+{"episode_index": 493, "tasks": ["Grasp the roller for rolling on the table."], "length": 92, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "Grasp the roller for rolling on the table.", "skill": ""}]}
+{"episode_index": 494, "tasks": ["Lift the light wood roller from the table."], "length": 89, "action_config": [{"start_frame": 0, "end_frame": 89, "action_text": "Lift the light wood roller from the table.", "skill": ""}]}
+{"episode_index": 495, "tasks": ["Lift the wooden rolling tool from the table carefully."], "length": 98, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "Lift the wooden rolling tool from the table carefully.", "skill": ""}]}
+{"episode_index": 496, "tasks": ["Take hold of the roller shaped like cylinder with both arms."], "length": 98, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "Take hold of the roller shaped like cylinder with both arms.", "skill": ""}]}
+{"episode_index": 497, "tasks": ["Grab the palm-sized roller placed on the table."], "length": 98, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "Grab the palm-sized roller placed on the table.", "skill": ""}]}
+{"episode_index": 498, "tasks": ["Use both arms to grab the roller with polished surface."], "length": 90, "action_config": [{"start_frame": 0, "end_frame": 90, "action_text": "Use both arms to grab the roller with polished surface.", "skill": ""}]}
+{"episode_index": 499, "tasks": ["Use both arms to grab the roller for rolling."], "length": 93, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "Use both arms to grab the roller for rolling.", "skill": ""}]}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/episodes_ori.jsonl b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/episodes_ori.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..67f99ab3747104c7723e73c0a174a905cb657ccb
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/episodes_ori.jsonl
@@ -0,0 +1,500 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/episodes_stats.jsonl b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bf3a30820a56cc140ec9a878e2f05e036665233f
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/episodes_stats.jsonl
@@ -0,0 +1,500 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/info.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..534f25bfa753921fb5007e1d7322268f11da506c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/info.json
@@ -0,0 +1,174 @@
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/source_schema.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/source_schema.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef4c72658d45415ffce97d9cf74fcbbdf6e3e97f
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/source_schema.json
@@ -0,0 +1,47 @@
+{
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+    "source_suffix": "robotwin_collect_raw_v1",
+    "robot_type": "aloha",
+    "camera_keys": [
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+    ],
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/stats.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..08c9850eb8a790812704aad5579711535a85e948
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/stats.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/tasks.jsonl b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b12a55e240977296ec2664bc53280c8b8b302b17
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/tasks.jsonl
@@ -0,0 +1,401 @@
+{"task_index": 0, "task": "Reach for the roller with smooth texture and hold it firmly"}
+{"task_index": 1, "task": "Take hold of the roller for rolling with both arms."}
+{"task_index": 2, "task": "Reach for the wooden rolling tool and hold it firmly"}
+{"task_index": 3, "task": "Lift the medium roller with narrower tips from its place on the table"}
+{"task_index": 4, "task": "Grasp the long slim roller on the table."}
+{"task_index": 5, "task": "Secure the light wood roller using your arms."}
+{"task_index": 6, "task": "Grab the roller with smooth and shiny texture directly from the table."}
+{"task_index": 7, "task": "Take hold of the brown roller with arms."}
+{"task_index": 8, "task": "Pick up the slim wooden roller using both arms."}
+{"task_index": 9, "task": "Grab the narrow tapered roller placed on the table."}
+{"task_index": 10, "task": "Hold the smooth cylindrical roller firmly from the table."}
+{"task_index": 11, "task": "Both arms should grab the brown roller now."}
+{"task_index": 12, "task": "Bring both arms to grab the roller shaped like cylinder."}
+{"task_index": 13, "task": "Pick up the smooth light brown roller from the table directly."}
+{"task_index": 14, "task": "Secure the roller shaped like cylinder using your arms."}
+{"task_index": 15, "task": "Lift the light wood roller from the table carefully."}
+{"task_index": 16, "task": "Pick up the solid wood roller using both arms equally"}
+{"task_index": 17, "task": "Reach for the wood roller and grab it firmly."}
+{"task_index": 18, "task": "Bring both arms to grab the long slim roller."}
+{"task_index": 19, "task": "Secure the narrow tapered roller on the table using arms."}
+{"task_index": 20, "task": "Take the light brown roller directly from the table."}
+{"task_index": 21, "task": "Lift the cylindrical roller with tapered ends from the table carefully."}
+{"task_index": 22, "task": "Pick up the narrow tapered roller from the table."}
+{"task_index": 23, "task": "Bring both arms to grab the slim wooden roller."}
+{"task_index": 24, "task": "Use both arms to grip the medium roller with narrower tips tightly."}
+{"task_index": 25, "task": "Firmly grab the slim wooden roller using arms."}
+{"task_index": 26, "task": "Hold the roller with polished surface on the table with hands."}
+{"task_index": 27, "task": "Take both arms to grasp the roller for smoothing materials."}
+{"task_index": 28, "task": "Firmly grab the palm-length roller using arms."}
+{"task_index": 29, "task": "Both arms should grab the light brown wooden roller now."}
+{"task_index": 30, "task": "Reach for the medium-sized roller and grab it firmly."}
+{"task_index": 31, "task": "Lift the roller shaped like cylinder from its place on the table"}
+{"task_index": 32, "task": "Reach for the smooth light brown roller and hold it firmly"}
+{"task_index": 33, "task": "Firmly grab the solid wood roller using arms."}
+{"task_index": 34, "task": "Grab the light wood roller placed on the table."}
+{"task_index": 35, "task": "Hold the slim wooden roller with both arms to pick it up"}
+{"task_index": 36, "task": "Hold the narrow tapered roller firmly from the table."}
+{"task_index": 37, "task": "Securely grab the solid wood roller using both arms."}
+{"task_index": 38, "task": "Pick up the medium roller with narrower tips using both arms."}
+{"task_index": 39, "task": "Lift the roller with smooth texture from the table."}
+{"task_index": 40, "task": "Grasp the roller with smooth texture on the table with arms."}
+{"task_index": 41, "task": "Take the slim wooden roller directly from the table."}
+{"task_index": 42, "task": "Hold the roller for rolling firmly from the table."}
+{"task_index": 43, "task": "Hold the wooden rolling tool with both arms to pick it up"}
+{"task_index": 44, "task": "Reach out to grab the roller shaped like cylinder from the table"}
+{"task_index": 45, "task": "Secure the roller with polished surface from the table using arms"}
+{"task_index": 46, "task": "Lift the smooth cylindrical roller off the table with both arms"}
+{"task_index": 47, "task": "Use arms to hold the narrow tapered roller tightly."}
+{"task_index": 48, "task": "Grasp the narrow tapered roller firmly from the table."}
+{"task_index": 49, "task": "Grasp the brown roller on the table with arms."}
+{"task_index": 50, "task": "Take hold of the narrow tapered roller."}
+{"task_index": 51, "task": "Lift the light brown roller with your arms."}
+{"task_index": 52, "task": "Get hold of the light brown wooden roller using your arms"}
+{"task_index": 53, "task": "Secure the slim wooden roller on the table using arms."}
+{"task_index": 54, "task": "Take both arms to grasp the medium roller with narrower tips."}
+{"task_index": 55, "task": "Use arms to firmly grab the wood roller."}
+{"task_index": 56, "task": "Secure the brown roller with both arms."}
+{"task_index": 57, "task": "Reach out to grab the roller for rolling from the table"}
+{"task_index": 58, "task": "Secure the light brown roller with both arms."}
+{"task_index": 59, "task": "Take hold of the medium-sized roller with arms."}
+{"task_index": 60, "task": "Grasp the slim wooden roller firmly from the table."}
+{"task_index": 61, "task": "Hold the wooden rolling tool on the table with hands."}
+{"task_index": 62, "task": "Take hold of the slim wooden roller."}
+{"task_index": 63, "task": "Lift the roller with polished surface from the table."}
+{"task_index": 64, "task": "Grasp the roller with smooth texture on the table."}
+{"task_index": 65, "task": "Take hold of the light wood roller with arms."}
+{"task_index": 66, "task": "Grab the slim wooden roller directly from the table."}
+{"task_index": 67, "task": "Hold the smooth light brown roller with both arms to pick it up"}
+{"task_index": 68, "task": "Take hold of the cylindrical roller with tapered ends using your arms."}
+{"task_index": 69, "task": "Take both arms to grasp the roller with smooth texture."}
+{"task_index": 70, "task": "Take both arms to grasp the roller shaped like cylinder."}
+{"task_index": 71, "task": "Take hold of the solid wood roller."}
+{"task_index": 72, "task": "Take hold of the roller with polished surface."}
+{"task_index": 73, "task": "Take hold of the palm-sized roller using your arms."}
+{"task_index": 74, "task": "Lift the medium roller with narrower tips with your arms."}
+{"task_index": 75, "task": "Secure the long slim roller on the table using arms."}
+{"task_index": 76, "task": "Secure the roller with smooth and shiny texture using your arms."}
+{"task_index": 77, "task": "Firmly grab the roller shaped like cylinder using arms."}
+{"task_index": 78, "task": "Hold the slim wooden roller on the table with hands."}
+{"task_index": 79, "task": "Lift the roller with smooth and shiny texture from the table."}
+{"task_index": 80, "task": "Take the brown roller directly from the table."}
+{"task_index": 81, "task": "Grasp the roller for rolling on the table."}
+{"task_index": 82, "task": "Secure the medium roller with narrower tips from the table using arms"}
+{"task_index": 83, "task": "Pick up the cylindrical roller from the table."}
+{"task_index": 84, "task": "Bring both arms to grab the light brown wooden roller."}
+{"task_index": 85, "task": "Grip the medium roller with narrower tips firmly with arms."}
+{"task_index": 86, "task": "Use both arms to grab the palm-length roller."}
+{"task_index": 87, "task": "Grab the wood roller directly from the table."}
+{"task_index": 88, "task": "Grasp the light wood roller on the table."}
+{"task_index": 89, "task": "Use arms to firmly grab the medium roller with narrower tips."}
+{"task_index": 90, "task": "Get hold of the smooth light brown roller using your arms"}
+{"task_index": 91, "task": "Reach for the cylindrical roller with tapered ends and grab it firmly."}
+{"task_index": 92, "task": "Grasp the medium-sized roller on the table with arms."}
+{"task_index": 93, "task": "Reach out to grab the smooth light brown roller from the table"}
+{"task_index": 94, "task": "Secure the wooden rolling tool from the table using arms"}
+{"task_index": 95, "task": "Hold the light wood roller firmly from the table."}
+{"task_index": 96, "task": "Hold the roller for rolling on the table with hands."}
+{"task_index": 97, "task": "Use both arms to grip the long slim roller tightly."}
+{"task_index": 98, "task": "Grasp the wood roller on the table with arms."}
+{"task_index": 99, "task": "Pick up the roller with smooth texture from the table."}
+{"task_index": 100, "task": "Bring both arms to grab the smooth light brown roller."}
+{"task_index": 101, "task": "Use arms to hold the smooth light brown roller tightly."}
+{"task_index": 102, "task": "Hold the palm-sized roller on the table with hands."}
+{"task_index": 103, "task": "Grab the roller for smoothing materials directly from the table."}
+{"task_index": 104, "task": "Use both arms to grip the roller with smooth texture tightly."}
+{"task_index": 105, "task": "Get hold of the medium roller with narrower tips using your arms"}
+{"task_index": 106, "task": "Pick up the light brown wooden roller from the table."}
+{"task_index": 107, "task": "Secure the narrow tapered roller from the table using arms"}
+{"task_index": 108, "task": "Securely grab the long slim roller using both arms."}
+{"task_index": 109, "task": "Bring both arms to grab the roller for smoothing materials."}
+{"task_index": 110, "task": "Use both arms to grab the roller for rolling."}
+{"task_index": 111, "task": "Lift the wooden rolling tool from its place on the table"}
+{"task_index": 112, "task": "Lift the palm-length roller off the table with arms."}
+{"task_index": 113, "task": "Grasp the wooden rolling tool on the table."}
+{"task_index": 114, "task": "Hold the roller for smoothing materials with both arms to pick it up"}
+{"task_index": 115, "task": "Lift the wooden rolling tool off the table with arms."}
+{"task_index": 116, "task": "Secure the smooth light brown roller on the table using arms."}
+{"task_index": 117, "task": "Bring both arms to grab the roller for rolling."}
+{"task_index": 118, "task": "Firmly grab the medium roller with narrower tips using arms."}
+{"task_index": 119, "task": "Use both arms to grip the cylindrical roller tightly."}
+{"task_index": 120, "task": "Reach out to grab the palm-length roller from the table"}
+{"task_index": 121, "task": "Pick up the palm-length roller using both arms equally"}
+{"task_index": 122, "task": "Use arms to firmly grab the roller shaped like cylinder."}
+{"task_index": 123, "task": "Pick up the medium roller with narrower tips from the table."}
+{"task_index": 124, "task": "Grip the narrow tapered roller firmly with arms."}
+{"task_index": 125, "task": "Lift the light brown wooden roller off the table with both arms"}
+{"task_index": 126, "task": "Take hold of the roller with smooth and shiny texture with both arms."}
+{"task_index": 127, "task": "Lift the cylindrical roller with tapered ends with your arms."}
+{"task_index": 128, "task": "Securely grab the roller for smoothing materials using both arms."}
+{"task_index": 129, "task": "Pick up the cylindrical roller with tapered ends from the table."}
+{"task_index": 130, "task": "Firmly grip the solid wood roller on the table now."}
+{"task_index": 131, "task": "Lift the roller for rolling off the table with both arms"}
+{"task_index": 132, "task": "Place hands on the roller for smoothing materials and lift."}
+{"task_index": 133, "task": "Firmly grab the cylindrical roller with tapered ends using arms."}
+{"task_index": 134, "task": "Secure the palm-length roller on the table using arms."}
+{"task_index": 135, "task": "Grasp the light wood roller firmly from the table."}
+{"task_index": 136, "task": "Grasp the smooth light brown roller on the table with arms."}
+{"task_index": 137, "task": "Reach for the narrow tapered roller and grab it firmly."}
+{"task_index": 138, "task": "Hold the roller for smoothing materials from the table."}
+{"task_index": 139, "task": "Pick up the solid wood roller from the table directly."}
+{"task_index": 140, "task": "Use both arms to grip the roller for smoothing materials tightly."}
+{"task_index": 141, "task": "Grasp the palm-length roller on the table."}
+{"task_index": 142, "task": "Pick up the roller with polished surface from the table."}
+{"task_index": 143, "task": "Bring both arms to grab the smooth cylindrical roller."}
+{"task_index": 144, "task": "Reach out to grab the roller with smooth texture from the table"}
+{"task_index": 145, "task": "Use arms to firmly grab the light wood roller."}
+{"task_index": 146, "task": "Firmly grip the roller with polished surface on the table now."}
+{"task_index": 147, "task": "Take hold of the wooden rolling tool using your arms."}
+{"task_index": 148, "task": "Firmly grip the long slim roller on the table now."}
+{"task_index": 149, "task": "Lift the medium roller with narrower tips from the table."}
+{"task_index": 150, "task": "Hold the roller for rolling from the table."}
+{"task_index": 151, "task": "Lift the palm-length roller with your arms."}
+{"task_index": 152, "task": "Take hold of the slim wooden roller using your arms."}
+{"task_index": 153, "task": "Reach out to grab the medium-sized roller from the table"}
+{"task_index": 154, "task": "Securely grab the cylindrical roller with tapered ends using both arms."}
+{"task_index": 155, "task": "Reach out to grab the slim wooden roller from the table"}
+{"task_index": 156, "task": "Reach out to grab the solid wood roller from the table"}
+{"task_index": 157, "task": "Take the smooth light brown roller directly from the table."}
+{"task_index": 158, "task": "Grasp the long slim roller firmly from the table."}
+{"task_index": 159, "task": "Hold the medium roller with narrower tips with both arms to pick it up"}
+{"task_index": 160, "task": "Grip the roller for rolling firmly with arms."}
+{"task_index": 161, "task": "Use arms to firmly grab the palm-length roller."}
+{"task_index": 162, "task": "Grip the roller for smoothing materials firmly with arms."}
+{"task_index": 163, "task": "Grab the cylindrical roller placed on the table."}
+{"task_index": 164, "task": "Pick up the light wood roller from the table."}
+{"task_index": 165, "task": "Use arms to hold the roller for rolling tightly."}
+{"task_index": 166, "task": "Lift the roller with smooth and shiny texture from its place on the table"}
+{"task_index": 167, "task": "Secure the cylindrical roller with both arms."}
+{"task_index": 168, "task": "Grasp the light brown roller on the table."}
+{"task_index": 169, "task": "Reach for the cylindrical roller and grab it firmly."}
+{"task_index": 170, "task": "Pick up the light wood roller using both arms."}
+{"task_index": 171, "task": "Take both arms to grasp the wooden rolling tool."}
+{"task_index": 172, "task": "Secure the roller with polished surface using your arms."}
+{"task_index": 173, "task": "Lift the light brown roller from the table."}
+{"task_index": 174, "task": "Pick up the wooden rolling tool from the table."}
+{"task_index": 175, "task": "Grasp the palm-length roller on the table with arms."}
+{"task_index": 176, "task": "Grasp the roller with smooth texture firmly from the table."}
+{"task_index": 177, "task": "Lift the roller with smooth texture with your arms."}
+{"task_index": 178, "task": "Grab the solid wood roller directly from the table."}
+{"task_index": 179, "task": "Lift the wooden rolling tool from the table carefully."}
+{"task_index": 180, "task": "Hold the light brown wooden roller from the table."}
+{"task_index": 181, "task": "Lift the brown roller from the table."}
+{"task_index": 182, "task": "Take both arms to grasp the cylindrical roller with tapered ends."}
+{"task_index": 183, "task": "Secure the cylindrical roller from the table using arms"}
+{"task_index": 184, "task": "Take the roller for rolling directly from the table."}
+{"task_index": 185, "task": "Take hold of the roller with smooth and shiny texture with arms."}
+{"task_index": 186, "task": "Reach for the smooth cylindrical roller and hold it firmly"}
+{"task_index": 187, "task": "Reach for the brown roller and grab it firmly."}
+{"task_index": 188, "task": "Pick up the narrow tapered roller from the table directly."}
+{"task_index": 189, "task": "Reach for the medium roller with narrower tips and hold it firmly"}
+{"task_index": 190, "task": "Pick up the wood roller using both arms."}
+{"task_index": 191, "task": "Place hands on the wood roller and lift."}
+{"task_index": 192, "task": "Grasp the roller for smoothing materials on the table."}
+{"task_index": 193, "task": "Both arms should grab the slim wooden roller now."}
+{"task_index": 194, "task": "Hold the roller with smooth texture firmly from the table."}
+{"task_index": 195, "task": "Lift the roller for smoothing materials from the table carefully."}
+{"task_index": 196, "task": "Take hold of the palm-length roller with arms."}
+{"task_index": 197, "task": "Hold the wooden rolling tool from the table."}
+{"task_index": 198, "task": "Grasp the smooth cylindrical roller firmly with arms."}
+{"task_index": 199, "task": "Use arms to hold the palm-sized roller tightly."}
+{"task_index": 200, "task": "Grab the cylindrical roller directly from the table."}
+{"task_index": 201, "task": "Hold the wood roller with both arms to pick it up"}
+{"task_index": 202, "task": "Reach for the roller with smooth and shiny texture and hold it firmly"}
+{"task_index": 203, "task": "Grab the wood roller placed on the table."}
+{"task_index": 204, "task": "Lift the roller with polished surface off the table with both arms"}
+{"task_index": 205, "task": "Take hold of the solid wood roller with both arms."}
+{"task_index": 206, "task": "Place hands on the roller shaped like cylinder and lift."}
+{"task_index": 207, "task": "Hold the roller with smooth texture from the table."}
+{"task_index": 208, "task": "Use both arms to grab the smooth cylindrical roller."}
+{"task_index": 209, "task": "Get hold of the palm-length roller using your arms"}
+{"task_index": 210, "task": "Both arms should grab the smooth cylindrical roller now."}
+{"task_index": 211, "task": "Reach for the solid wood roller and hold it firmly"}
+{"task_index": 212, "task": "Take hold of the wooden rolling tool with both arms."}
+{"task_index": 213, "task": "Grasp the smooth light brown roller on the table."}
+{"task_index": 214, "task": "Pick up the brown roller from the table directly."}
+{"task_index": 215, "task": "Take the long slim roller directly from the table."}
+{"task_index": 216, "task": "Secure the smooth cylindrical roller with both arms."}
+{"task_index": 217, "task": "Hold the solid wood roller with both arms to pick it up"}
+{"task_index": 218, "task": "Lift the narrow tapered roller from the table."}
+{"task_index": 219, "task": "Take hold of the palm-sized roller with both arms."}
+{"task_index": 220, "task": "Pick up the long slim roller using both arms equally"}
+{"task_index": 221, "task": "Lift the medium-sized roller from its place on the table"}
+{"task_index": 222, "task": "Pick up the smooth cylindrical roller using both arms."}
+{"task_index": 223, "task": "Take both arms to grasp the long slim roller."}
+{"task_index": 224, "task": "Grip the light wood roller firmly with arms."}
+{"task_index": 225, "task": "Reach for the roller with polished surface and hold it firmly"}
+{"task_index": 226, "task": "Reach for the roller with polished surface and grab it firmly."}
+{"task_index": 227, "task": "Grasp the light wood roller firmly with arms."}
+{"task_index": 228, "task": "Hold the cylindrical roller with tapered ends from the table."}
+{"task_index": 229, "task": "Lift the roller with smooth and shiny texture with your arms."}
+{"task_index": 230, "task": "Grab the roller for rolling placed on the table."}
+{"task_index": 231, "task": "Grab the medium roller with narrower tips directly from the table."}
+{"task_index": 232, "task": "Use arms to firmly grab the slim wooden roller."}
+{"task_index": 233, "task": "Secure the smooth light brown roller using your arms."}
+{"task_index": 234, "task": "Take both arms to grasp the light brown roller."}
+{"task_index": 235, "task": "Pick up the palm-sized roller using both arms."}
+{"task_index": 236, "task": "Reach for the medium-sized roller and hold it firmly"}
+{"task_index": 237, "task": "Secure the light brown roller using your arms."}
+{"task_index": 238, "task": "Secure the slim wooden roller using your arms."}
+{"task_index": 239, "task": "Hold the roller shaped like cylinder from the table."}
+{"task_index": 240, "task": "Grab the roller for rolling directly from the table."}
+{"task_index": 241, "task": "Use both arms to grip the smooth light brown roller tightly."}
+{"task_index": 242, "task": "Grab the medium-sized roller directly from the table."}
+{"task_index": 243, "task": "Use arms to firmly grab the roller for rolling."}
+{"task_index": 244, "task": "Pick up the smooth cylindrical roller using both arms equally"}
+{"task_index": 245, "task": "Take the solid wood roller directly from the table."}
+{"task_index": 246, "task": "Reach out to grab the light wood roller from the table"}
+{"task_index": 247, "task": "Hold the light wood roller from the table."}
+{"task_index": 248, "task": "Lift the light brown roller from its place on the table"}
+{"task_index": 249, "task": "Grasp the slim wooden roller firmly with arms."}
+{"task_index": 250, "task": "Use both arms to grip the cylindrical roller with tapered ends tightly."}
+{"task_index": 251, "task": "Use both arms to grab the roller with smooth texture."}
+{"task_index": 252, "task": "Use arms to firmly grab the roller for smoothing materials."}
+{"task_index": 253, "task": "Take both arms to grasp the slim wooden roller."}
+{"task_index": 254, "task": "Lift the brown roller off the table with arms."}
+{"task_index": 255, "task": "Pick up the solid wood roller from the table."}
+{"task_index": 256, "task": "Hold the smooth cylindrical roller with both arms to pick it up"}
+{"task_index": 257, "task": "Bring both arms to grab the light brown roller."}
+{"task_index": 258, "task": "Take both arms to grasp the solid wood roller."}
+{"task_index": 259, "task": "Firmly grip the smooth light brown roller on the table now."}
+{"task_index": 260, "task": "Grasp the long slim roller firmly with arms."}
+{"task_index": 261, "task": "Firmly grab the light brown wooden roller using arms."}
+{"task_index": 262, "task": "Place hands on the roller with polished surface and lift."}
+{"task_index": 263, "task": "Grasp the cylindrical roller with tapered ends on the table."}
+{"task_index": 264, "task": "Grasp the roller for rolling firmly with arms."}
+{"task_index": 265, "task": "Grab the slim wooden roller placed on the table."}
+{"task_index": 266, "task": "Grasp the palm-length roller firmly with arms."}
+{"task_index": 267, "task": "Lift the light brown roller off the table with both arms"}
+{"task_index": 268, "task": "Use arms to firmly grab the narrow tapered roller."}
+{"task_index": 269, "task": "Secure the light brown wooden roller on the table using arms."}
+{"task_index": 270, "task": "Use both arms to grab the slim wooden roller."}
+{"task_index": 271, "task": "Get hold of the roller for rolling using your arms"}
+{"task_index": 272, "task": "Pick up the palm-sized roller from the table."}
+{"task_index": 273, "task": "Pick up the long slim roller using both arms."}
+{"task_index": 274, "task": "Firmly grip the light brown roller on the table now."}
+{"task_index": 275, "task": "Pick up the roller for smoothing materials using both arms."}
+{"task_index": 276, "task": "Grasp the solid wood roller on the table with arms."}
+{"task_index": 277, "task": "Place hands on the solid wood roller and lift."}
+{"task_index": 278, "task": "Hold the cylindrical roller with tapered ends with both arms to pick it up"}
+{"task_index": 279, "task": "Grasp the wood roller on the table."}
+{"task_index": 280, "task": "Reach for the light wood roller and hold it firmly"}
+{"task_index": 281, "task": "Firmly grip the medium-sized roller on the table now."}
+{"task_index": 282, "task": "Take hold of the roller with polished surface using your arms."}
+{"task_index": 283, "task": "Pick up the narrow tapered roller using both arms equally"}
+{"task_index": 284, "task": "Grab the long slim roller placed on the table."}
+{"task_index": 285, "task": "Reach out to grab the light brown wooden roller from the table"}
+{"task_index": 286, "task": "Secure the long slim roller with both arms."}
+{"task_index": 287, "task": "Grasp the cylindrical roller with tapered ends firmly with arms."}
+{"task_index": 288, "task": "Bring both arms to grab the solid wood roller."}
+{"task_index": 289, "task": "Take hold of the medium-sized roller using your arms."}
+{"task_index": 290, "task": "Secure the medium-sized roller from the table using arms"}
+{"task_index": 291, "task": "Firmly grip the wood roller on the table now."}
+{"task_index": 292, "task": "Securely grab the wooden rolling tool using both arms."}
+{"task_index": 293, "task": "Grasp the smooth cylindrical roller firmly from the table."}
+{"task_index": 294, "task": "Take both arms to grasp the roller with smooth and shiny texture."}
+{"task_index": 295, "task": "Secure the palm-sized roller on the table using arms."}
+{"task_index": 296, "task": "Securely grab the light brown roller using both arms."}
+{"task_index": 297, "task": "Pick up the brown roller from the table."}
+{"task_index": 298, "task": "Secure the roller for rolling with both arms."}
+{"task_index": 299, "task": "Lift the solid wood roller from the table carefully."}
+{"task_index": 300, "task": "Take hold of the palm-sized roller with arms."}
+{"task_index": 301, "task": "Take hold of the cylindrical roller with arms."}
+{"task_index": 302, "task": "Grasp the cylindrical roller with tapered ends on the table with arms."}
+{"task_index": 303, "task": "Firmly grab the roller with smooth and shiny texture using arms."}
+{"task_index": 304, "task": "Pick up the roller with smooth and shiny texture from the table."}
+{"task_index": 305, "task": "Pick up the light brown roller from the table."}
+{"task_index": 306, "task": "Both arms should grab the roller with polished surface now."}
+{"task_index": 307, "task": "Take the light wood roller directly from the table."}
+{"task_index": 308, "task": "Grasp the light wood roller on the table with arms."}
+{"task_index": 309, "task": "Lift the narrow tapered roller from its place on the table"}
+{"task_index": 310, "task": "Hold the slim wooden roller from the table."}
+{"task_index": 311, "task": "Take the palm-length roller directly from the table."}
+{"task_index": 312, "task": "Take hold of the roller with smooth texture with both arms."}
+{"task_index": 313, "task": "Lift the long slim roller off the table with both arms"}
+{"task_index": 314, "task": "Pick up the roller with polished surface using both arms equally"}
+{"task_index": 315, "task": "Grasp the medium-sized roller firmly with arms."}
+{"task_index": 316, "task": "Lift the palm-sized roller off the table with both arms"}
+{"task_index": 317, "task": "Grasp the wooden rolling tool firmly with arms."}
+{"task_index": 318, "task": "Grip the wooden rolling tool firmly with arms."}
+{"task_index": 319, "task": "Pick up the wood roller using both arms equally"}
+{"task_index": 320, "task": "Secure the brown roller on the table using arms."}
+{"task_index": 321, "task": "Place hands on the narrow tapered roller and lift."}
+{"task_index": 322, "task": "Take hold of the palm-length roller with both arms."}
+{"task_index": 323, "task": "Get hold of the roller with smooth texture using your arms"}
+{"task_index": 324, "task": "Use arms to hold the palm-length roller tightly."}
+{"task_index": 325, "task": "Get hold of the cylindrical roller with tapered ends using your arms"}
+{"task_index": 326, "task": "Grasp the slim wooden roller on the table."}
+{"task_index": 327, "task": "Lift the long slim roller from the table."}
+{"task_index": 328, "task": "Secure the palm-sized roller with both arms."}
+{"task_index": 329, "task": "Reach out to grab the roller with polished surface from the table"}
+{"task_index": 330, "task": "Take hold of the smooth cylindrical roller with arms."}
+{"task_index": 331, "task": "Lift the roller shaped like cylinder from the table."}
+{"task_index": 332, "task": "Hold the brown roller on the table with hands."}
+{"task_index": 333, "task": "Securely grab the light brown wooden roller using both arms."}
+{"task_index": 334, "task": "Lift the smooth light brown roller from the table carefully."}
+{"task_index": 335, "task": "Grasp the solid wood roller firmly from the table."}
+{"task_index": 336, "task": "Firmly grip the brown roller on the table now."}
+{"task_index": 337, "task": "Reach for the slim wooden roller and grab it firmly."}
+{"task_index": 338, "task": "Secure the roller shaped like cylinder from the table using arms"}
+{"task_index": 339, "task": "Lift the light brown wooden roller from the table carefully."}
+{"task_index": 340, "task": "Hold the light brown roller with both arms to pick it up"}
+{"task_index": 341, "task": "Lift the smooth cylindrical roller off the table with arms."}
+{"task_index": 342, "task": "Take hold of the roller shaped like cylinder with arms."}
+{"task_index": 343, "task": "Reach for the smooth cylindrical roller and grab it firmly."}
+{"task_index": 344, "task": "Take hold of the light brown wooden roller with arms."}
+{"task_index": 345, "task": "Pick up the light wood roller from the table directly."}
+{"task_index": 346, "task": "Grip the smooth light brown roller firmly with arms."}
+{"task_index": 347, "task": "Use both arms to grip the roller shaped like cylinder tightly."}
+{"task_index": 348, "task": "Grasp the smooth light brown roller firmly from the table."}
+{"task_index": 349, "task": "Take hold of the long slim roller."}
+{"task_index": 350, "task": "Hold the roller for rolling with both arms to pick it up"}
+{"task_index": 351, "task": "Get hold of the palm-sized roller using your arms"}
+{"task_index": 352, "task": "Hold the wood roller firmly from the table."}
+{"task_index": 353, "task": "Hold the smooth light brown roller firmly from the table."}
+{"task_index": 354, "task": "Secure the palm-length roller with both arms."}
+{"task_index": 355, "task": "Reach for the long slim roller and grab it firmly."}
+{"task_index": 356, "task": "Lift the roller for smoothing materials off the table with both arms"}
+{"task_index": 357, "task": "Grip the cylindrical roller firmly with arms."}
+{"task_index": 358, "task": "Take hold of the solid wood roller with arms."}
+{"task_index": 359, "task": "Use both arms to grab the cylindrical roller with tapered ends."}
+{"task_index": 360, "task": "Grip the brown roller firmly with arms."}
+{"task_index": 361, "task": "Take hold of the roller with smooth texture."}
+{"task_index": 362, "task": "Both arms should grab the narrow tapered roller now."}
+{"task_index": 363, "task": "Take hold of the light brown wooden roller with both arms."}
+{"task_index": 364, "task": "Take both arms to grasp the brown roller."}
+{"task_index": 365, "task": "Grab the cylindrical roller with tapered ends placed on the table."}
+{"task_index": 366, "task": "Both arms should grab the light wood roller now."}
+{"task_index": 367, "task": "Securely grab the cylindrical roller using both arms."}
+{"task_index": 368, "task": "Get hold of the wooden rolling tool using your arms"}
+{"task_index": 369, "task": "Firmly grab the wooden rolling tool using arms."}
+{"task_index": 370, "task": "Both arms should grab the palm-sized roller now."}
+{"task_index": 371, "task": "Use arms to hold the light brown roller tightly."}
+{"task_index": 372, "task": "Firmly grab the cylindrical roller using arms."}
+{"task_index": 373, "task": "Hold the medium-sized roller firmly from the table."}
+{"task_index": 374, "task": "Bring both arms to grab the narrow tapered roller."}
+{"task_index": 375, "task": "Use arms to hold the smooth cylindrical roller tightly."}
+{"task_index": 376, "task": "Secure the wooden rolling tool on the table using arms."}
+{"task_index": 377, "task": "Use both arms to grip the palm-length roller tightly."}
+{"task_index": 378, "task": "Grasp the wood roller firmly with arms."}
+{"task_index": 379, "task": "Lift the long slim roller from its place on the table"}
+{"task_index": 380, "task": "Pick up the roller with smooth and shiny texture from the table directly."}
+{"task_index": 381, "task": "Take hold of the roller for smoothing materials using your arms."}
+{"task_index": 382, "task": "Hold the narrow tapered roller with both arms to pick it up"}
+{"task_index": 383, "task": "Firmly grab the brown roller using arms."}
+{"task_index": 384, "task": "Use both arms to grab the narrow tapered roller."}
+{"task_index": 385, "task": "Grab the long slim roller directly from the table."}
+{"task_index": 386, "task": "Bring both arms to grab the palm-length roller."}
+{"task_index": 387, "task": "Secure the medium-sized roller with both arms."}
+{"task_index": 388, "task": "Secure the roller with smooth and shiny texture with both arms."}
+{"task_index": 389, "task": "Use arms to firmly grab the palm-sized roller."}
+{"task_index": 390, "task": "Securely grab the roller for rolling using both arms."}
+{"task_index": 391, "task": "Use both arms to grab the wood roller."}
+{"task_index": 392, "task": "Hold the cylindrical roller firmly from the table."}
+{"task_index": 393, "task": "Secure the medium roller with narrower tips with both arms."}
+{"task_index": 394, "task": "Hold the wood roller from the table."}
+{"task_index": 395, "task": "Hold the solid wood roller firmly from the table."}
+{"task_index": 396, "task": "Securely grab the medium roller with narrower tips using both arms."}
+{"task_index": 397, "task": "Lift the light wood roller from the table."}
+{"task_index": 398, "task": "Take hold of the roller shaped like cylinder with both arms."}
+{"task_index": 399, "task": "Grab the palm-sized roller placed on the table."}
+{"task_index": 400, "task": "Use both arms to grab the roller with polished surface."}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/text_instruction_backup/episodes.jsonl b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/text_instruction_backup/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4b700c24c0384f9ea462bc6820dd24326e3e2c66
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/text_instruction_backup/episodes.jsonl
@@ -0,0 +1,500 @@
+{"episode_index": 0, "tasks": ["grab roller"], "length": 99, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "grab roller", "skill": ""}]}
+{"episode_index": 1, "tasks": ["grab roller"], "length": 90, "action_config": [{"start_frame": 0, "end_frame": 90, "action_text": "grab roller", "skill": ""}]}
+{"episode_index": 2, "tasks": ["grab roller"], "length": 94, "action_config": [{"start_frame": 0, "end_frame": 94, "action_text": "grab roller", "skill": ""}]}
+{"episode_index": 3, "tasks": ["grab roller"], "length": 100, "action_config": [{"start_frame": 0, "end_frame": 100, "action_text": "grab roller", "skill": ""}]}
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/text_instruction_backup/episodes_ori.jsonl b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/text_instruction_backup/episodes_ori.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4292a89ea39eaf538409f82114a1da4f8e933974
--- /dev/null
+++ b/data/aloha_clean/grab_roller-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/grab_roller-aloha-agilex_randomized_500/meta/text_instruction_backup/info.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/text_instruction_backup/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6948ef94eed98f947936599992ec304b5855f366
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/text_instruction_backup/info.json
@@ -0,0 +1,174 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "aloha",
+    "total_episodes": 500,
+    "total_frames": 47440,
+    "total_tasks": 1,
+    "total_videos": 1500,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 16.666682561253765,
+    "splits": {
+        "train": "0:500"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos_240x320_240x320/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "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"
+                ]
+            ]
+        },
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+                16
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+                    "left_y",
+                    "left_z",
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+                    "left_qx",
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+                    "left_gripper",
+                    "right_x",
+                    "right_y",
+                    "right_z",
+                    "right_qw",
+                    "right_qx",
+                    "right_qy",
+                    "right_qz",
+                    "right_gripper"
+                ]
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
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+                1
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+                "height",
+                "width"
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+                "video.width": 320,
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+                "video.fps": 16.666666666666668,
+                "video.channels": 3,
+                "has_audio": false
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+        },
+        "observation.images.cam_main": {
+            "dtype": "video",
+            "shape": [
+                3,
+                240,
+                320
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
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+            "info": {
+                "video.height": 240,
+                "video.width": 320,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuvj420p",
+                "video.is_depth_map": false,
+                "video.fps": 16.666666666666668,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_right_wrist": {
+            "dtype": "video",
+            "shape": [
+                3,
+                240,
+                320
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 240,
+                "video.width": 320,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuvj420p",
+                "video.is_depth_map": false,
+                "video.fps": 16.666666666666668,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        }
+    }
+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/text_instruction_backup/tasks.jsonl b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/text_instruction_backup/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3deabd1b712eea2c3d7813ef23a1275c7a6793cf
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/meta/text_instruction_backup/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "grab roller"}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000000.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..df9228d67797f82c7e9980d82cceef033cc6ea5e
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000000.json
@@ -0,0 +1,141 @@
+{
+    "task": "Reach for the roller with smooth texture and hold it firmly",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode0",
+    "action_config": [
+        {
+            "start_frame": 0,
+            "end_frame": 99,
+            "action_text": "Reach for the roller with smooth texture and hold it firmly",
+            "skill": ""
+        }
+    ],
+    "source_meta": {
+        "dataset_name": "robotwin",
+        "raw_record_payload": {
+            "run_dir": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized",
+            "task_name": "grab_roller",
+            "task_config": "aloha-agilex_randomized_500",
+            "task_repo_name": "grab_roller-aloha-agilex_randomized_500",
+            "raw_task_config": "demo_randomized",
+            "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode0.hdf5",
+            "instruction": "Reach for the roller with smooth texture and hold it firmly",
+            "fps": 16.666666666666668,
+            "depth_sources": {
+                "main": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode0.hdf5::observation/head_camera/depth",
+                "left_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode0.hdf5::observation/left_camera/depth",
+                "right_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode0.hdf5::observation/right_camera/depth"
+            },
+            "depth_unit": "millimeter"
+        },
+        "camera_sources": {
+            "main": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode0.hdf5::observation/head_camera/rgb",
+            "left_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode0.hdf5::observation/left_camera/rgb",
+            "right_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode0.hdf5::observation/right_camera/rgb"
+        },
+        "camera_output_mapping": {
+            "observation.images.cam_main": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode0.hdf5::observation/head_camera/rgb",
+            "observation.images.cam_left_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode0.hdf5::observation/left_camera/rgb",
+            "observation.images.cam_right_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode0.hdf5::observation/right_camera/rgb"
+        },
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+        "deferred_camera_output_mapping": {},
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+        "frame_sample_stride": 4,
+        "sampled_frame_ids": [
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+            92,
+            96
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+        "raw_absolute_action_dim": 16,
+        "notes": [
+            "This repo was generated from wan_va.dataset.curation raw dataset readers.",
+            "observation.state is populated with raw_absolute_actions as a compatibility fallback.",
+            "Videos are stored as full resized episodes; sampled_frame_ids are only recorded in source_meta.",
+            "observation.state/action repaired from RobotWin endpose as 16D xyz+wxyz+gripper EEF targets."
+        ],
+        "observation_state_source": "raw_states",
+        "raw_qpos_dim": 14,
+        "all_camera_sources": {
+            "main": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode0.hdf5::observation/head_camera/rgb",
+            "left_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode0.hdf5::observation/left_camera/rgb",
+            "right_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode0.hdf5::observation/right_camera/rgb"
+        },
+        "video_export_results": {
+            "main": {
+                "preserved": false,
+                "method": "ffmpeg_virtual_hdf5"
+            },
+            "left_wrist": {
+                "preserved": false,
+                "method": "ffmpeg_virtual_hdf5"
+            },
+            "right_wrist": {
+                "preserved": false,
+                "method": "ffmpeg_virtual_hdf5"
+            }
+        },
+        "gt_depth_outputs": {
+            "main": {
+                "source": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode0.hdf5::observation/head_camera/depth",
+                "output_path": "/media/damoxing/datasets/vae4d/lerobot-vae4d-org/robotwin_gt_depth/grab_roller-aloha-agilex_randomized_500/depth/chunk-000/observation.images.cam_main/episode_000000.hdf5",
+                "num_frames": 99,
+                "depth_unit": "mm",
+                "depth_dtype": "uint16",
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+                "depth_encoded_bytes_min": 10567,
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+                "output_camera_key": "observation.images.cam_main"
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000001.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..266f826fa39fca49024565f0ef64e12ef470b36b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000001.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000002.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..fab1955b92a231a2881783707ce75b32ff074ad6
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000002.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000003.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbf27cc14d0b8f334251c8c69fc3d508ec32e27b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000003.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000004.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..842b44d6155b779a020e3652e90b829833708cfa
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000004.json
@@ -0,0 +1,141 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000005.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..052bd1162952f735ff88edd56af401daf268d2c5
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000005.json
@@ -0,0 +1,142 @@
+{
+    "task": "Secure the light wood roller using your arms.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode5",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000006.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f0585730272d720d3582f6ab3eaac6b64f90575
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000006.json
@@ -0,0 +1,140 @@
+{
+    "task": "Grab the roller with smooth and shiny texture directly from the table.",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode6",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000007.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..bece6956cc6c3fde73ee0528b0362b0841050486
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000007.json
@@ -0,0 +1,141 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000008.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfd27d43785889711177b6aa0fb2375d748acb4a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000008.json
@@ -0,0 +1,138 @@
+{
+    "task": "Pick up the slim wooden roller using both arms.",
+    "source_name": "robotwin",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000009.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..093948ce6cb6857b3dedf0d7e1b08bd8c7f582d7
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000009.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000010.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..a47cd73b15badab28c2bbc8245137a04e166f923
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000010.json
@@ -0,0 +1,140 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000011.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6733142130725f6a46dc50012baf8850f3338cc
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000011.json
@@ -0,0 +1,139 @@
+{
+    "task": "Both arms should grab the brown roller now.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode11",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000012.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..920408ef40eb5188f7948d7a3aa9d96d75b20909
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000012.json
@@ -0,0 +1,140 @@
+{
+    "task": "Bring both arms to grab the roller shaped like cylinder.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000013.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..854a1e6fe7cebdf8d7b262fd4b43be666a5fabac
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000013.json
@@ -0,0 +1,140 @@
+{
+    "task": "Pick up the smooth light brown roller from the table directly.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode13",
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+            "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode13.hdf5",
+            "instruction": "Pick up the smooth light brown roller from the table directly.",
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000014.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..b87882b8832d50eecc0fcaa4fca7fb8ea76e8540
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000014.json
@@ -0,0 +1,139 @@
+{
+    "task": "Secure the roller shaped like cylinder using your arms.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode14",
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+            "Videos are stored as full resized episodes; sampled_frame_ids are only recorded in source_meta.",
+            "observation.state/action repaired from RobotWin endpose as 16D xyz+wxyz+gripper EEF targets."
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000015.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..14d28963ca6eb287aa06ec0b688d076d39f84314
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000015.json
@@ -0,0 +1,140 @@
+{
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode15",
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+            "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode15.hdf5",
+            "instruction": "Lift the light wood roller from the table carefully.",
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new file mode 100644
index 0000000000000000000000000000000000000000..b9cb85dbc4efe2c619a0a84b9e818c9a85a91dd1
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000016.json
@@ -0,0 +1,143 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..db4aaec721f53c85a6bca8159f8938aa329a9694
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000017.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000018.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eafe0b23f59a0393b9d6093b09b60cf5bfb61a0
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000018.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000019.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9756e2adedf8d35bd3cc617b7e23daded49992c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000019.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000020.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5deea76244acbb33982f416159327dd6882fde5
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000020.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000021.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..161959031902fc55eadce12bb8a9af32e791d3fb
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000021.json
@@ -0,0 +1,140 @@
+{
+    "task": "Lift the cylindrical roller with tapered ends from the table carefully.",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode21",
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+            "end_frame": 96,
+            "action_text": "Lift the cylindrical roller with tapered ends from the table carefully.",
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+            "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode21.hdf5",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000022.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eb2d2858746fd78de7119f65595fcf11dd7680b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000022.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000023.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..b03281bf0e6c5e3a996797762bf648ee07400b68
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000023.json
@@ -0,0 +1,140 @@
+{
+    "task": "Bring both arms to grab the slim wooden roller.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000024.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..af581fb231efefa5f3dbe5255563be01c8f0f472
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000024.json
@@ -0,0 +1,140 @@
+{
+    "task": "Use both arms to grip the medium roller with narrower tips tightly.",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode24",
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+            "action_text": "Use both arms to grip the medium roller with narrower tips tightly.",
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+            "raw_task_config": "demo_randomized",
+            "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode24.hdf5",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000025.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..f82dd7a6ce3f422dcaf4c59cb06fbca0c2e2f29b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000025.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000026.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..63679ecb0b0db5a85d4fc6fa2ce52316cd933693
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000026.json
@@ -0,0 +1,141 @@
+{
+    "task": "Hold the roller with polished surface on the table with hands.",
+    "source_name": "robotwin",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000027.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..06ed17a7b465c31488220da47f7a6f176f94b367
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000027.json
@@ -0,0 +1,139 @@
+{
+    "task": "Take both arms to grasp the roller for smoothing materials.",
+    "source_name": "robotwin",
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+            "end_frame": 91,
+            "action_text": "Take both arms to grasp the roller for smoothing materials.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000028.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5c0f84b38cadd822dce83e347ec099ebbe3bf8e
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000028.json
@@ -0,0 +1,142 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000029.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..36b2fc75226eb33c0f909c0127851f9e976d6cfe
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000029.json
@@ -0,0 +1,139 @@
+{
+    "task": "Both arms should grab the light brown wooden roller now.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode29",
+    "action_config": [
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+            "end_frame": 90,
+            "action_text": "Both arms should grab the light brown wooden roller now.",
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+            "instruction": "Both arms should grab the light brown wooden roller now.",
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+            "Videos are stored as full resized episodes; sampled_frame_ids are only recorded in source_meta.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000030.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..60405e5c2a7ec9cd5b3efb5b7e7b881d82f5eae4
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000030.json
@@ -0,0 +1,141 @@
+{
+    "task": "Reach for the medium-sized roller and grab it firmly.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode30",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000031.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..86dbf8d480706c2f9244be702f62bcd00a315779
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000031.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000032.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..20896b333f68b52b6a16fc17b08913e3b80028a0
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000032.json
@@ -0,0 +1,142 @@
+{
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode32",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000033.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..941fa1aec02651832a2b18a71c04c5651dc25d2c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000033.json
@@ -0,0 +1,140 @@
+{
+    "task": "Firmly grab the solid wood roller using arms.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode33",
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+            "observation.state/action repaired from RobotWin endpose as 16D xyz+wxyz+gripper EEF targets."
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+            "right_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode33.hdf5::observation/right_camera/rgb"
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000034.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6b7dd2f5131466785e6ced52b4e0d68bb8dea21
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000034.json
@@ -0,0 +1,140 @@
+{
+    "task": "Grab the light wood roller placed on the table.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode34",
+    "action_config": [
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+            "action_text": "Grab the light wood roller placed on the table.",
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+            "instruction": "Grab the light wood roller placed on the table.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000035.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..5353c36c4eea9bdac440a24c3d62b96d76c3e694
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000035.json
@@ -0,0 +1,138 @@
+{
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode35",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000036.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..73cc23a915e93efdb6354b3f6c44449e86d1447a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000036.json
@@ -0,0 +1,140 @@
+{
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode36",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000037.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e5606a1bc39050b110550c922dc9ea66daeebce
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000037.json
@@ -0,0 +1,139 @@
+{
+    "task": "Use both arms to grip the medium roller with narrower tips tightly.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode37",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000038.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000038.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfb643e98a7370ba69b8b0ae1f57ab6c263446c3
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000038.json
@@ -0,0 +1,142 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000039.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000039.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e16544c7b1b9bf28a8c50c057b88dffacb75c08
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000039.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000040.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000040.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d373671d6066cfd5d1f00f0b5ac1d30bfe6d0e3
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000040.json
@@ -0,0 +1,140 @@
+{
+    "task": "Lift the roller with smooth texture from the table.",
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new file mode 100644
index 0000000000000000000000000000000000000000..dac415871d090b5362edb70d7e5cee59b969a326
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000041.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000042.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000042.json
new file mode 100644
index 0000000000000000000000000000000000000000..be28fa2fcf7a4f83faa2dab5b4348b795d4f012b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000042.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000043.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000043.json
new file mode 100644
index 0000000000000000000000000000000000000000..09359573cf4efdfc0366ff684edbd3dfcdf1e4fc
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000043.json
@@ -0,0 +1,141 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..2186c6d1fb4c31f618c0f9bd03aec49b6873afc2
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000044.json
@@ -0,0 +1,140 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000045.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000045.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc2373b622248ac147216e04d8c3902a18e0ff88
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000045.json
@@ -0,0 +1,141 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000046.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000046.json
new file mode 100644
index 0000000000000000000000000000000000000000..242b5161fc670566e861414e9c203d06515b3ec1
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000046.json
@@ -0,0 +1,141 @@
+{
+    "task": "Secure the roller with polished surface from the table using arms",
+    "source_name": "robotwin",
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new file mode 100644
index 0000000000000000000000000000000000000000..4e8cc5404062e23a862210975c721aeec54e9351
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000047.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000048.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000048.json
new file mode 100644
index 0000000000000000000000000000000000000000..be509fc2c46ac62b01ce008b9b2e6f4ea980e6b3
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000048.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000049.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000049.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eec581306068b1e8b6bf484b5f47014b31acd34
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000049.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000050.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000050.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a6ba3c94e65a2f2c83b0d26b76f7f7aebdc6a93
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000050.json
@@ -0,0 +1,140 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..4befd95d53279088133caa0f101ae3f422e36b9a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000051.json
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..672f11704f73e132cddf560a1e89f2f9911c3e81
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000052.json
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..ca19515f4126311745e09a022af522776202c1ed
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000053.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000054.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000054.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dc633b4919619f37d60b0673e19cf68f5d7f3be
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000054.json
@@ -0,0 +1,141 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000055.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000055.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bb3f6871a5f6721bfb34a5a1d3772fb231cf007
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000055.json
@@ -0,0 +1,138 @@
+{
+    "task": "Take both arms to grasp the medium roller with narrower tips.",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode55",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000056.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000056.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0094669493e5d33b10c3b29606952def4b94f84
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000056.json
@@ -0,0 +1,139 @@
+{
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+            "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode56.hdf5",
+            "instruction": "Use arms to firmly grab the wood roller.",
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new file mode 100644
index 0000000000000000000000000000000000000000..38650a80232522cdb94d0291679c1c1d57652bba
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000057.json
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new file mode 100644
index 0000000000000000000000000000000000000000..54d28dfeb207f18eb9d76d2d8a4ee18f76e06de6
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000058.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000059.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000059.json
new file mode 100644
index 0000000000000000000000000000000000000000..881e696ea96ce4e02b2f3e80b697145bf468c1ba
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000059.json
@@ -0,0 +1,139 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000060.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000060.json
new file mode 100644
index 0000000000000000000000000000000000000000..770eeb8b6a65d0bbc295ce12692031ede093ef95
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000060.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000061.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000061.json
new file mode 100644
index 0000000000000000000000000000000000000000..d906f9745e9681698e1d6220bd0e265ec78dac93
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000061.json
@@ -0,0 +1,140 @@
+{
+    "task": "Take hold of the medium-sized roller with arms.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000062.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000062.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3858b00a114e39a5acba06472fc5ef3c3bf76a8
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000062.json
@@ -0,0 +1,139 @@
+{
+    "task": "Lift the medium roller with narrower tips from its place on the table",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode62",
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+            "end_frame": 92,
+            "action_text": "Lift the medium roller with narrower tips from its place on the table",
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+            "task_repo_name": "grab_roller-aloha-agilex_randomized_500",
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+            "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode62.hdf5",
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new file mode 100644
index 0000000000000000000000000000000000000000..76892ccb1986ddd1bb115762665b8a75aecf29d5
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000063.json
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new file mode 100644
index 0000000000000000000000000000000000000000..aac59d6484d5a4da0f8600b665e24c855dd1e7e0
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000064.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000065.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000065.json
new file mode 100644
index 0000000000000000000000000000000000000000..b600295c811a9ed131dc7acf61967d7ec5788f66
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000065.json
@@ -0,0 +1,140 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000066.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000066.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ce83dd242071ef0a3bfbc156ecbc4a78dfa2767
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000066.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000067.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000067.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d5d9fac67f5007f83d0e3c7fde5649204151988
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000067.json
@@ -0,0 +1,139 @@
+{
+    "task": "Grasp the roller with smooth texture on the table.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000068.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000068.json
new file mode 100644
index 0000000000000000000000000000000000000000..200027e78b9ddf2681035ee94d57fd0111770329
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000068.json
@@ -0,0 +1,139 @@
+{
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+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode68",
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+            "end_frame": 89,
+            "action_text": "Take hold of the light wood roller with arms.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000069.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000069.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a1196b46001b5d99008a2ee9274d1bfd968ce96
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000069.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000070.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000070.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e88b78484537dd83bbc5e6427ec1749a20dc004
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000070.json
@@ -0,0 +1,141 @@
+{
+    "task": "Hold the smooth light brown roller with both arms to pick it up",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode70",
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+            "Videos are stored as full resized episodes; sampled_frame_ids are only recorded in source_meta.",
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000071.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000071.json
new file mode 100644
index 0000000000000000000000000000000000000000..c82917ab706fc21f4b0e3eb94365e157b6dbd4ad
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000071.json
@@ -0,0 +1,140 @@
+{
+    "task": "Take hold of the cylindrical roller with tapered ends using your arms.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode71",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000072.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000072.json
new file mode 100644
index 0000000000000000000000000000000000000000..4db83b091294c6d647dc79ef49aaff572b077101
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000072.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000073.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000073.json
new file mode 100644
index 0000000000000000000000000000000000000000..03860a5a01be2c76430dfe2c3833e9e15d461476
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000073.json
@@ -0,0 +1,141 @@
+{
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+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000075.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000075.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1cbacb56306abf48f879416a323cad4a2072da8
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000075.json
@@ -0,0 +1,140 @@
+{
+    "task": "Take hold of the solid wood roller.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000076.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000076.json
new file mode 100644
index 0000000000000000000000000000000000000000..0742eaba2fd02c481b606d7f004d5651385f7a3d
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000076.json
@@ -0,0 +1,140 @@
+{
+    "task": "Take hold of the roller with polished surface.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000077.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000077.json
new file mode 100644
index 0000000000000000000000000000000000000000..d72cd17221efb4f578985c0ed344fe82e64c2251
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000077.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000078.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000078.json
new file mode 100644
index 0000000000000000000000000000000000000000..c82bf20d4db3302a654d9ba95d977419dfb70cf4
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000078.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000079.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000079.json
new file mode 100644
index 0000000000000000000000000000000000000000..34acd0bba87d783b7841f730bb1ffd759a8b6f08
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000079.json
@@ -0,0 +1,139 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..799f767a91597f0bd59c82746698813609ece93c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000080.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000081.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000081.json
new file mode 100644
index 0000000000000000000000000000000000000000..4413c049a8d319e8b1cb1b29df9f25e9b1fe76b1
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000081.json
@@ -0,0 +1,140 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..a3db7c5c379b11bf423fb176a356b96123566125
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000082.json
@@ -0,0 +1,140 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..3fe9eda817fdbf70aec441b270c3f30f7ea7a224
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000083.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000084.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000084.json
new file mode 100644
index 0000000000000000000000000000000000000000..a27d7114c5d3f7e5debf1c7bc3bfb3101d8b3bf3
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000084.json
@@ -0,0 +1,138 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..82643791d0826e13ba50488f1aa8a1e449612189
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000085.json
@@ -0,0 +1,139 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000086.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000086.json
new file mode 100644
index 0000000000000000000000000000000000000000..3969731544c17ceb4ffbfbddf86f45e7c9aff760
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000086.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000087.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000087.json
new file mode 100644
index 0000000000000000000000000000000000000000..631b1be4d985bac84cbf9b68d4f830254f9a47c6
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000087.json
@@ -0,0 +1,141 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..ddceee2c69efce35aade08d0abe36f8b3aaca97f
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000088.json
@@ -0,0 +1,141 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000089.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000089.json
new file mode 100644
index 0000000000000000000000000000000000000000..a02806b074005156f4d6c5e97a8aa972c543b456
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000089.json
@@ -0,0 +1,139 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000090.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000090.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4bb0a16365798af7072d78732ad103d16f5352b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000090.json
@@ -0,0 +1,141 @@
+{
+    "task": "Grip the medium roller with narrower tips firmly with arms.",
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+            "action_text": "Grip the medium roller with narrower tips firmly with arms.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000091.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000091.json
new file mode 100644
index 0000000000000000000000000000000000000000..35b09b861b22b33fa8899ac6a009a5d7b8a5b278
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000091.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000092.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000092.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a57c57aca981ae7bb103854e0d2c9b4ce1e5dd8
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000092.json
@@ -0,0 +1,140 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000093.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000093.json
new file mode 100644
index 0000000000000000000000000000000000000000..51da0873370798cbe9b8f17e5fb63552214a86ee
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000093.json
@@ -0,0 +1,140 @@
+{
+    "task": "Grasp the light wood roller on the table.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000094.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000094.json
new file mode 100644
index 0000000000000000000000000000000000000000..1119c35a4853d0315a143832c06cc604da651781
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000094.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000095.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000095.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccd142a6b6f4b0088f1a8c7202fd526c9ae799e3
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000095.json
@@ -0,0 +1,140 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000096.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000096.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4bf086a4e2f4d942bfd640aaa40740d088867f8
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000096.json
@@ -0,0 +1,140 @@
+{
+    "task": "Reach for the cylindrical roller with tapered ends and grab it firmly.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000097.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000097.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f1c7bbc69b4024924365994b81297419d534f54
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000097.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000098.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000098.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d0702b67a474ab9a82cb61ba6f9b6bd778e016
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000098.json
@@ -0,0 +1,141 @@
+{
+    "task": "Reach out to grab the smooth light brown roller from the table",
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000099.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000099.json
new file mode 100644
index 0000000000000000000000000000000000000000..1afad34b928eca2ef4322a1aad7570bd6e8e9697
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000099.json
@@ -0,0 +1,141 @@
+{
+    "task": "Secure the wooden rolling tool from the table using arms",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode99",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000100.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000100.json
new file mode 100644
index 0000000000000000000000000000000000000000..6906d73ec5e05925b9756226a4f34da2928ff363
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000100.json
@@ -0,0 +1,140 @@
+{
+    "task": "Hold the light wood roller firmly from the table.",
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+            "instruction": "Hold the light wood roller firmly from the table.",
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new file mode 100644
index 0000000000000000000000000000000000000000..14750b04081c8f60c09cb4d763f3a9ad03dab405
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000101.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000102.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000102.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d6d36152ca5d5dbc8b312be2d5097d0e07b6f85
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000102.json
@@ -0,0 +1,141 @@
+{
+    "task": "Use both arms to grip the long slim roller tightly.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode102",
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+            "end_frame": 99,
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000103.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000103.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f31c2ccbe3c4c61a53f2fafc411a5276996483a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000103.json
@@ -0,0 +1,139 @@
+{
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode103",
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+            "action_text": "Grasp the wood roller on the table with arms.",
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+            "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode103.hdf5",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000104.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000104.json
new file mode 100644
index 0000000000000000000000000000000000000000..16a0ec989fb29886cf0a298242064ef833a39af2
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000104.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000105.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000105.json
new file mode 100644
index 0000000000000000000000000000000000000000..059aaacb226632d0ada1e5f4498895a94bd730d9
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000105.json
@@ -0,0 +1,140 @@
+{
+    "task": "Bring both arms to grab the smooth light brown roller.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000106.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000106.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc3495be61924ba353f8229004fb2d6f36c381ca
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000106.json
@@ -0,0 +1,139 @@
+{
+    "task": "Use arms to hold the smooth light brown roller tightly.",
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+            "instruction": "Use arms to hold the smooth light brown roller tightly.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000107.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000107.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8836f3ddcea160741e7fda9e066475cac2f098b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000107.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000108.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000108.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ff7b4cefc0a732af67dbb5780ae55a5de9277b6
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000108.json
@@ -0,0 +1,141 @@
+{
+    "task": "Take hold of the slim wooden roller.",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode108",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000109.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000109.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a9a9e9dbec96696c3d03e00eacb366cc136eab9
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000109.json
@@ -0,0 +1,141 @@
+{
+    "task": "Grab the roller for smoothing materials directly from the table.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode109",
+    "action_config": [
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+            "end_frame": 100,
+            "action_text": "Grab the roller for smoothing materials directly from the table.",
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+            "task_repo_name": "grab_roller-aloha-agilex_randomized_500",
+            "raw_task_config": "demo_randomized",
+            "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode109.hdf5",
+            "instruction": "Grab the roller for smoothing materials directly from the table.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000110.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000110.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f7daee8753e4387591cb65e23789f315a2ef2b3
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000110.json
@@ -0,0 +1,140 @@
+{
+    "task": "Use both arms to grip the roller with smooth texture tightly.",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode110",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000111.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000111.json
new file mode 100644
index 0000000000000000000000000000000000000000..d609abf87e3cf929219b775618fa50feea0966be
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000111.json
@@ -0,0 +1,141 @@
+{
+    "task": "Get hold of the medium roller with narrower tips using your arms",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode111",
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+            "end_frame": 100,
+            "action_text": "Get hold of the medium roller with narrower tips using your arms",
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000112.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000112.json
new file mode 100644
index 0000000000000000000000000000000000000000..24354a8f1f20446cf7f8f104bcfd6b3bd92b3a4b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000112.json
@@ -0,0 +1,140 @@
+{
+    "task": "Pick up the light brown wooden roller from the table.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode112",
+    "action_config": [
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+            "end_frame": 95,
+            "action_text": "Pick up the light brown wooden roller from the table.",
+            "skill": ""
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new file mode 100644
index 0000000000000000000000000000000000000000..d68d41f1874d575ce2b9e71b52c0353211234f19
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000113.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000114.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000114.json
new file mode 100644
index 0000000000000000000000000000000000000000..804c63d052eff214742469c4833a8e98d9053a46
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000114.json
@@ -0,0 +1,140 @@
+{
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode114",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000115.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000115.json
new file mode 100644
index 0000000000000000000000000000000000000000..27667254927eb5659c51e95c54c3fa74b084dc5a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000115.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000116.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000116.json
new file mode 100644
index 0000000000000000000000000000000000000000..8796f365c0f5f8baf7466a10811ec9b0ac4d6794
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000116.json
@@ -0,0 +1,141 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..48ce553644e1d102126d380b3317f13d2be62333
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000117.json
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new file mode 100644
index 0000000000000000000000000000000000000000..693c546c7083f306f13e7075ded155c4d7274d10
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000118.json
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new file mode 100644
index 0000000000000000000000000000000000000000..6df7faf2a130ca876c5dd63a852ba8654578b31f
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000119.json
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..304f379ec8950e665b169839eb160034a8e36676
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000121.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000121.json
new file mode 100644
index 0000000000000000000000000000000000000000..a559b4378af8af94eec4975f1fd3b651cbc9dccd
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000121.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000122.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000122.json
new file mode 100644
index 0000000000000000000000000000000000000000..8763cf7a58d12134775351d1a88d0e668b8fb75a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000122.json
@@ -0,0 +1,140 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..1545d1f947f102c0da545b9c53c2ac9a89493fcf
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000123.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000124.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000124.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bbcda57fca9a351ebb5c876d03810fbc23f5f0a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000124.json
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+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000125.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000125.json
new file mode 100644
index 0000000000000000000000000000000000000000..14f7e1b7f7694b0a1a9bc78c77ce5021d5dc3642
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000125.json
@@ -0,0 +1,140 @@
+{
+    "task": "Secure the smooth light brown roller on the table using arms.",
+    "source_name": "robotwin",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000126.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000126.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc0af0373403013714e6cb3093d6cd1cc3c238ec
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000126.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000127.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000127.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b9915b1cbfb29a16f583d7e2f78ca5610b84aac
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000127.json
@@ -0,0 +1,141 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000128.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000128.json
new file mode 100644
index 0000000000000000000000000000000000000000..513d9c02baa6ac11d35fb917efae7ac77d725f4e
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000128.json
@@ -0,0 +1,140 @@
+{
+    "task": "Firmly grab the medium roller with narrower tips using arms.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode128",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000129.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000129.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4d1a28156e03ff0f9a98cf4ed7bd99d652b081a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000129.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000130.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000130.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bdaa8475f1a5417e10440a4903e6a092f6c639c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000130.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000131.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000131.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef8fa2c7b6e87a649bc3e073f6866cdd9deb9ea2
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000131.json
@@ -0,0 +1,140 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..d03d310dfcd86f89fabaa2bf4e91f1daeaeb824b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000132.json
@@ -0,0 +1,139 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000133.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000133.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a5cca6a6a7e5f84229af85d6fa94bf3c78be362
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000133.json
@@ -0,0 +1,141 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000134.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000134.json
new file mode 100644
index 0000000000000000000000000000000000000000..b05377459294539ade54a8e2588f3cc3f389f59f
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000134.json
@@ -0,0 +1,140 @@
+{
+    "task": "Grip the narrow tapered roller firmly with arms.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode134",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000135.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000135.json
new file mode 100644
index 0000000000000000000000000000000000000000..25d2bc84a2337724d6f94f7c39c8c2167e167217
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000135.json
@@ -0,0 +1,141 @@
+{
+    "task": "Lift the light brown wooden roller off the table with both arms",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode135",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000136.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000136.json
new file mode 100644
index 0000000000000000000000000000000000000000..25f557544e12563b108badf6adc6843fcfe8b054
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000136.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000137.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000137.json
new file mode 100644
index 0000000000000000000000000000000000000000..35aa3d4e62fa32be116be94da92c33eb40bb9dd5
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000137.json
@@ -0,0 +1,139 @@
+{
+    "task": "Grasp the slim wooden roller firmly from the table.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000138.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000138.json
new file mode 100644
index 0000000000000000000000000000000000000000..81310f1058d5561b551d73f36cc310c956588f04
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000138.json
@@ -0,0 +1,142 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000139.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000139.json
new file mode 100644
index 0000000000000000000000000000000000000000..c40b5d2604b2142eac3e1c72bd76e04e916a9bd8
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000139.json
@@ -0,0 +1,139 @@
+{
+    "task": "Securely grab the roller for smoothing materials using both arms.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode139",
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+            "Videos are stored as full resized episodes; sampled_frame_ids are only recorded in source_meta.",
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000140.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000140.json
new file mode 100644
index 0000000000000000000000000000000000000000..53977f36b794bb39b8549ceebbd44112a7550bc2
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000140.json
@@ -0,0 +1,140 @@
+{
+    "task": "Pick up the cylindrical roller with tapered ends from the table.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode140",
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+            "end_frame": 96,
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+            "Videos are stored as full resized episodes; sampled_frame_ids are only recorded in source_meta.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000141.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000141.json
new file mode 100644
index 0000000000000000000000000000000000000000..318cced271f9244127bc64e889fb2902d958c997
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000141.json
@@ -0,0 +1,140 @@
+{
+    "task": "Firmly grip the solid wood roller on the table now.",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode141",
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+            "end_frame": 96,
+            "action_text": "Firmly grip the solid wood roller on the table now.",
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+            "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode141.hdf5",
+            "instruction": "Firmly grip the solid wood roller on the table now.",
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new file mode 100644
index 0000000000000000000000000000000000000000..728b6df1c07c42599697737c6c6e3ccb04195b68
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000142.json
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index 0000000000000000000000000000000000000000..e97f8c264a792bd689173f70d8578c7b05874c65
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000143.json
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new file mode 100644
index 0000000000000000000000000000000000000000..c90e7cf9c06f7ff87dceb5238eb9a7c9793f9f09
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000144.json
@@ -0,0 +1,138 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000145.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000145.json
new file mode 100644
index 0000000000000000000000000000000000000000..54a6ffc16aed768e33e71b6538ae1a06408f7937
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000145.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000146.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000146.json
new file mode 100644
index 0000000000000000000000000000000000000000..37451435a1895dd1a172e7eb052e9e366bdda718
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000146.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000147.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000147.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bdc417d2cc8541ec7ab82791f6892ae55aa7c53
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000147.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000148.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000148.json
new file mode 100644
index 0000000000000000000000000000000000000000..e23d06ab425337d5be49cf87e2f6864dd9778644
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000148.json
@@ -0,0 +1,142 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000149.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000149.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd6ebcc758c08b1241976522f70c365de0cba094
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000149.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000150.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000150.json
new file mode 100644
index 0000000000000000000000000000000000000000..71e16b7356b915ce7a713fa92959b34753fca6ca
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000150.json
@@ -0,0 +1,139 @@
+{
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+            "end_frame": 91,
+            "action_text": "Hold the roller for smoothing materials from the table.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000151.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000151.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e351de0bd24aef66515073026570ed648c3b28d
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000151.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000152.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000152.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1ce9ce0107d659aef342e4477a61904754ac57
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000152.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000153.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000153.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6ea5eb3b581eea56a4cf9b1f74889f38e25bf8e
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000153.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000154.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000154.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c5f73bf08261f403322ef2db619d04f4d623e89
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000154.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000155.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000155.json
new file mode 100644
index 0000000000000000000000000000000000000000..666f3be068e9ae56eb461edb81665c674355a042
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000155.json
@@ -0,0 +1,141 @@
+{
+    "task": "Pick up the roller with polished surface from the table.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode155",
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+            "action_text": "Pick up the roller with polished surface from the table.",
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+            "Videos are stored as full resized episodes; sampled_frame_ids are only recorded in source_meta.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000156.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000156.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bd68739b81ce9c0354e59e11d0bee1bd21528a5
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000156.json
@@ -0,0 +1,140 @@
+{
+    "task": "Bring both arms to grab the smooth cylindrical roller.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode156",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000157.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000157.json
new file mode 100644
index 0000000000000000000000000000000000000000..d11b610f3a2bf64a62b057871a8b24346270e66d
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000157.json
@@ -0,0 +1,141 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..a669a2ee01fa6046b95e7582e74af4fccddddec4
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000158.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000159.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000159.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5046330dae6f65572d13ff8ebe6da89faafd950
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000159.json
@@ -0,0 +1,141 @@
+{
+    "task": "Firmly grip the roller with polished surface on the table now.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode159",
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+            "Videos are stored as full resized episodes; sampled_frame_ids are only recorded in source_meta.",
+            "observation.state/action repaired from RobotWin endpose as 16D xyz+wxyz+gripper EEF targets."
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+        },
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000160.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000160.json
new file mode 100644
index 0000000000000000000000000000000000000000..61c458872511e02b0d898f3b14df12c303ba0cac
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000160.json
@@ -0,0 +1,139 @@
+{
+    "task": "Take hold of the wooden rolling tool using your arms.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode160",
+    "action_config": [
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+            "action_text": "Take hold of the wooden rolling tool using your arms.",
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+            "instruction": "Take hold of the wooden rolling tool using your arms.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000161.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000161.json
new file mode 100644
index 0000000000000000000000000000000000000000..908fe63638435f17080867d45ddea97c0016bd63
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000161.json
@@ -0,0 +1,141 @@
+{
+    "task": "Firmly grip the long slim roller on the table now.",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode161",
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new file mode 100644
index 0000000000000000000000000000000000000000..3dc5f67be61a87f2ccc46f4fe3cafe4df86deca2
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000162.json
@@ -0,0 +1,138 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000163.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000163.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f4ee9953e3063ee14411c46d07f7000f013f3e5
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000163.json
@@ -0,0 +1,141 @@
+{
+    "task": "Pick up the cylindrical roller with tapered ends from the table.",
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new file mode 100644
index 0000000000000000000000000000000000000000..43ca8229571e45bf8d99e17893690a88530cbf5f
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000164.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000165.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000165.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cf6351d0fd13e6f21fefeaf116903c4bf6cf112
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000165.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000166.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000166.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e7dcdecf1706e3817e8db4afd3e734cc0e328aa
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000166.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000167.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000167.json
new file mode 100644
index 0000000000000000000000000000000000000000..72fd56cf78fb3fb86abb4d54e9ff7e7259f6165b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000167.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000168.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000168.json
new file mode 100644
index 0000000000000000000000000000000000000000..6316b6e0158f5ae433c9fa350dfe34ef6e9250e4
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000168.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000169.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000169.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cd1bca464fc240097991b52858a2fdc2f8ee7d5
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000169.json
@@ -0,0 +1,140 @@
+{
+    "task": "Reach out to grab the slim wooden roller from the table",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000170.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000170.json
new file mode 100644
index 0000000000000000000000000000000000000000..60f59897a9c902edeb9f866ab132ec135c0a8c53
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000170.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000171.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000171.json
new file mode 100644
index 0000000000000000000000000000000000000000..5feea98813362a0723db6d1c9a6cf6eaa324c676
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000171.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000172.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000172.json
new file mode 100644
index 0000000000000000000000000000000000000000..c09877e986553f389a40371a169c5ddccd1c62b0
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000172.json
@@ -0,0 +1,141 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..c6e774927539a1984d0387978cdc7a16762b0e85
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000173.json
@@ -0,0 +1,140 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..cb967314f4e91f0546c05991fba994f4b416b6de
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000174.json
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..6f590882154de7403beaf01ad4d931b2e12e6b48
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000175.json
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..4086eff6b21d323dc512eb7ed41483e7368226f1
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000176.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000177.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000177.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7a732633219c5fad0a9c30e2f975de5b854e788
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000177.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000178.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000178.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fcf379bd9ea6b3239c95bc4687d57800d5c2179
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000178.json
@@ -0,0 +1,140 @@
+{
+    "task": "Use both arms to grab the roller for rolling.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000179.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000179.json
new file mode 100644
index 0000000000000000000000000000000000000000..408eda97d644bfd85636c4a4486c31f54434263c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000179.json
@@ -0,0 +1,139 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000180.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000180.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3272bcc2cbe8bbc9e9738043acd94ff9af0f29d
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000180.json
@@ -0,0 +1,141 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000181.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000181.json
new file mode 100644
index 0000000000000000000000000000000000000000..090fb52d5584af02ef9c692174b3427c8fcb480f
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000181.json
@@ -0,0 +1,140 @@
+{
+    "task": "Grab the cylindrical roller placed on the table.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode181",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000182.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000182.json
new file mode 100644
index 0000000000000000000000000000000000000000..b30ca6a004c3cb6d6210b3d3f7a75bce6fd25e43
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000182.json
@@ -0,0 +1,141 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..70e920e6073859fd90f3f44361e4e31f87b30f28
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000183.json
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..e590d6f2defea37d61dab7cf0cda9b6811b7b702
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000184.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000185.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000185.json
new file mode 100644
index 0000000000000000000000000000000000000000..d205de1733f0ff23121c9248d6c6407fe6433404
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000185.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000186.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000186.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac8ac4129aa0b597f63e271c4142bac78be59376
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000186.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000187.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000187.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a3d13f35608d677a3b68687e9062f39817b7fc8
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000187.json
@@ -0,0 +1,139 @@
+{
+    "task": "Grasp the light brown roller on the table.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000188.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000188.json
new file mode 100644
index 0000000000000000000000000000000000000000..36ac40ba8ced9e881f7d2a9745205bd9ba0557f8
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000188.json
@@ -0,0 +1,138 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000189.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000189.json
new file mode 100644
index 0000000000000000000000000000000000000000..948fba225d1ecf21979083542c04456d704cb397
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000189.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000190.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000190.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9330ea53003de2b3856ddeb2df95383aa2be809
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000190.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000191.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000191.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d7eb9fc1f1fe35f3de90a4ac4051befeecd6ae5
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000191.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000192.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000192.json
new file mode 100644
index 0000000000000000000000000000000000000000..f35bbd9921e342eebb0509585a504835161a8321
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000192.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000193.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000193.json
new file mode 100644
index 0000000000000000000000000000000000000000..64ae4d1014f853aa96dc3120412b57619d11b899
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000193.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000194.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000194.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8fabef5ca0feb41dfa4faf453b9e6ac4ff6f04f
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000194.json
@@ -0,0 +1,140 @@
+{
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+            "end_frame": 96,
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000195.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000195.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8539d178ba1bad98b19c17f59f1c78d49d165b3
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000195.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000196.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000196.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfed3fe4d50f4b8d66d10c2e1c760caf55b78287
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000196.json
@@ -0,0 +1,139 @@
+{
+    "task": "Bring both arms to grab the light brown wooden roller.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000197.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000197.json
new file mode 100644
index 0000000000000000000000000000000000000000..1847534a22bd28cb92cfd52865a76db96ad5eb07
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000197.json
@@ -0,0 +1,140 @@
+{
+    "task": "Hold the roller with polished surface on the table with hands.",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode197",
+    "action_config": [
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000198.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000198.json
new file mode 100644
index 0000000000000000000000000000000000000000..effec2eaf225544863cf8c5bfa32854f9ed743ce
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000198.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000199.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000199.json
new file mode 100644
index 0000000000000000000000000000000000000000..84849016a580fedc73a1afb74360fbe8cb7f227a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000199.json
@@ -0,0 +1,139 @@
+{
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000201.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000201.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5240c2e88822c729bbe9ee2b0968fa7dfc9de3e
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000201.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000202.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000202.json
new file mode 100644
index 0000000000000000000000000000000000000000..8168b5a050df628e00205891356b39fc076ebd7c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000202.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000203.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000203.json
new file mode 100644
index 0000000000000000000000000000000000000000..35c7ee5576c3da3fb505830eee9c16924174ed48
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000203.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000204.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000204.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f42b00e3b0f75058c2eac97cb5d783a5a4b8c17
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000204.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000205.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000205.json
new file mode 100644
index 0000000000000000000000000000000000000000..58122059f0f75339586c791e797bebc71b7867c9
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000205.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000206.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000206.json
new file mode 100644
index 0000000000000000000000000000000000000000..f901ee5bfa147e1f484e4d6356f970ac1c371b05
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000206.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000207.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000207.json
new file mode 100644
index 0000000000000000000000000000000000000000..396bb6fedff911245089b768506fde3960d46de4
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000207.json
@@ -0,0 +1,139 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..2bb0579fe5a80bfa73451c0402e7a46cf2b995be
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000208.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000209.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000209.json
new file mode 100644
index 0000000000000000000000000000000000000000..1152b728ae5b4e81e1e4ac2e8e5b0f7a08bb7a4d
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000209.json
@@ -0,0 +1,141 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000210.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000210.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b097a2cec7e7b90373dc0b2f6ac4eb8a240d11a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000210.json
@@ -0,0 +1,139 @@
+{
+    "task": "Reach for the brown roller and grab it firmly.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode210",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000211.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000211.json
new file mode 100644
index 0000000000000000000000000000000000000000..51b9a6c0b7b7c53bbe60af00011e2c834586d2d0
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000211.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000212.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000212.json
new file mode 100644
index 0000000000000000000000000000000000000000..01d81cb67882c1968f7bb1de92f02866be95f063
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000212.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000213.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000213.json
new file mode 100644
index 0000000000000000000000000000000000000000..d80a4dbc41cada8383b7d61ba0797aa2cf3e83b1
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000213.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000214.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000214.json
new file mode 100644
index 0000000000000000000000000000000000000000..739ee087cfce428230c946b8dc4ac9a042b860cf
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000214.json
@@ -0,0 +1,141 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000215.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000215.json
new file mode 100644
index 0000000000000000000000000000000000000000..559442257626c2b1abdc2b4d164764e3e78522b9
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000215.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000216.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000216.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d6ce84d84a0d827af295bbf6e06fdb121c14d95
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000216.json
@@ -0,0 +1,142 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..01f8497909a6feb6a8391787a976b4d90bed83d4
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000217.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000218.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000218.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac290b61e1b31cc834efc5ae7852e0560b1ac68d
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000218.json
@@ -0,0 +1,139 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000219.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000219.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3aa5837352ba60bb9b54d3c0cab983cc7263709
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000219.json
@@ -0,0 +1,141 @@
+{
+    "task": "Pick up the medium roller with narrower tips using both arms.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode219",
+    "action_config": [
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+            "action_text": "Pick up the medium roller with narrower tips using both arms.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000220.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000220.json
new file mode 100644
index 0000000000000000000000000000000000000000..50e5f686c6d03643e821b2778f25d7a7eefed454
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000220.json
@@ -0,0 +1,140 @@
+{
+    "task": "Hold the roller with smooth texture firmly from the table.",
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+            "action_text": "Hold the roller with smooth texture firmly from the table.",
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new file mode 100644
index 0000000000000000000000000000000000000000..8f671a86193190fcaf2a293aa260f6e971454b64
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000221.json
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new file mode 100644
index 0000000000000000000000000000000000000000..c2b858422f60adec77c410162a5a6c268583d97d
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000222.json
@@ -0,0 +1,139 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..c6de2fc250cbaf47cc61833a3e6739aec4d4222f
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000223.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000224.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000224.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc0aaeb6337b667822defbe6d4bb9dd6f7b962e8
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000224.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000225.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000225.json
new file mode 100644
index 0000000000000000000000000000000000000000..68095146ed00d99bd822e3ee5d54a0c103d292c4
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000225.json
@@ -0,0 +1,141 @@
+{
+    "task": "Grasp the smooth cylindrical roller firmly with arms.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode225",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000226.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000226.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f452ab7e4dea3e27afc3fef1066e784081b058a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000226.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000227.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000227.json
new file mode 100644
index 0000000000000000000000000000000000000000..051243735586efb2c0f746008704396b1243131c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000227.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000228.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000228.json
new file mode 100644
index 0000000000000000000000000000000000000000..feff2ec6dd000427dda7f0ff6ab401597c66731a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000228.json
@@ -0,0 +1,140 @@
+{
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode228",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000229.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000229.json
new file mode 100644
index 0000000000000000000000000000000000000000..1648be36572863a5496c0fa416db9ff6bea6431a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000229.json
@@ -0,0 +1,141 @@
+{
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+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode229",
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+            "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode229.hdf5",
+            "instruction": "Reach for the roller with smooth and shiny texture and hold it firmly",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000230.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000230.json
new file mode 100644
index 0000000000000000000000000000000000000000..a207eb1b9a88fe96f2b75aca24ecb0d8b4f24f8c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000230.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000231.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000231.json
new file mode 100644
index 0000000000000000000000000000000000000000..58aa67df1dc90be9326abca8cc956600476d26a2
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000231.json
@@ -0,0 +1,141 @@
+{
+    "task": "Lift the roller with polished surface off the table with both arms",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode231",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000232.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000232.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f2ca92b6847d455c9169539566aa447f9298d39
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000232.json
@@ -0,0 +1,141 @@
+{
+    "task": "Take hold of the solid wood roller with both arms.",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode232",
+    "action_config": [
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+            "action_text": "Take hold of the solid wood roller with both arms.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000233.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000233.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec792f2b8e2c83d29a4e69f52094b6a27c507b84
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000233.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000234.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000234.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5a06207e92f7bdafd3f6ea5cf55edcfd5c690be
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000234.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000235.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000235.json
new file mode 100644
index 0000000000000000000000000000000000000000..82c88e471c235e58248851ebf6b6c9babeda1d9f
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000235.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000236.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000236.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3b07671c885713e8e28f4c0aadf3ea4a230db9a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000236.json
@@ -0,0 +1,139 @@
+{
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode236",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000237.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000237.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cb017c3ca0d5ffb7f8c6fee8cbf57fcc2d175a7
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000237.json
@@ -0,0 +1,138 @@
+{
+    "task": "Both arms should grab the smooth cylindrical roller now.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode237",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000238.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000238.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e0ad6c96f1d6151aa284a32e36d5ecc355c4d2e
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000238.json
@@ -0,0 +1,138 @@
+{
+    "task": "Reach for the solid wood roller and hold it firmly",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode238",
+    "action_config": [
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+            "end_frame": 88,
+            "action_text": "Reach for the solid wood roller and hold it firmly",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000239.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000239.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aad1b185fac10a9733b3ba61bba099ce89d070f
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000239.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000240.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000240.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ca27afd4270f6eb537e21a899d47ce8e2c80793
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000240.json
@@ -0,0 +1,140 @@
+{
+    "task": "Grasp the smooth light brown roller on the table.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000241.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000241.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fa601fda1786f43abab05bc5eec93b71a8147ef
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000241.json
@@ -0,0 +1,141 @@
+{
+    "task": "Secure the roller with polished surface using your arms.",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode241",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000242.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000242.json
new file mode 100644
index 0000000000000000000000000000000000000000..24d2dc431c535e52d465fb4be356650e8cd0e8ab
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000242.json
@@ -0,0 +1,141 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..42d540d3b95bddb919e6524fd8a992cc00954bd7
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000243.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000245.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000245.json
new file mode 100644
index 0000000000000000000000000000000000000000..c23a24a842c33dbc437c702ff62e3b830b6333f4
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000245.json
@@ -0,0 +1,139 @@
+{
+    "task": "Hold the solid wood roller with both arms to pick it up",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000246.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000246.json
new file mode 100644
index 0000000000000000000000000000000000000000..90e1855b9b3923eeb41b889ecf750f2930d20b77
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000246.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000247.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000247.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e2f5fc57d060265057cef83c1f436818598de96
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000247.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000248.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000248.json
new file mode 100644
index 0000000000000000000000000000000000000000..d74ef403a6784fff557c126d49d0927fcaf494b5
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000248.json
@@ -0,0 +1,141 @@
+{
+    "task": "Lift the narrow tapered roller from the table.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000249.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000249.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9c178271312fbd92f71052355a42a02b3b1dd87
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000249.json
@@ -0,0 +1,142 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000250.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000250.json
new file mode 100644
index 0000000000000000000000000000000000000000..10fa0d84de282873f6440c90f698353e68456700
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000250.json
@@ -0,0 +1,138 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000251.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000251.json
new file mode 100644
index 0000000000000000000000000000000000000000..d07d064cf747dad8a982d65b31545984032d3b90
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000251.json
@@ -0,0 +1,141 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..79c7811ec63ba113afcb5c5ced56edb5703194a3
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000252.json
@@ -0,0 +1,140 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000253.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000253.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b3693b6e6f1cec6d2d7868522df5921b694ee14
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000253.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000254.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000254.json
new file mode 100644
index 0000000000000000000000000000000000000000..41d5bf67a0827fb69698ba97a28f3baf271e3acf
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000254.json
@@ -0,0 +1,140 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..13b2a36a1277fcbbbd43f7a0e6d798a61ad92279
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000255.json
@@ -0,0 +1,141 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000256.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000256.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff3762600ef8e7b06f5f9aceb7602279b3da5b70
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000256.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000257.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000257.json
new file mode 100644
index 0000000000000000000000000000000000000000..192abf681e4493b2a60c93f0ad5859607ec5d56c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000257.json
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..f1f249aea67773937102cca67b1feca10a1a8094
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000258.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000259.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000259.json
new file mode 100644
index 0000000000000000000000000000000000000000..3665ee0721ded600b30d5b2817846bb628257176
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000259.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000260.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000260.json
new file mode 100644
index 0000000000000000000000000000000000000000..87a820b39c4963828dbeff34875ccdf8fd91a38e
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000260.json
@@ -0,0 +1,139 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..7aa3ca26fd857da357591c32a88853926faa3c75
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000261.json
@@ -0,0 +1,141 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000262.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000262.json
new file mode 100644
index 0000000000000000000000000000000000000000..58d3d1f1c5c342565eb0070c8d8046de7b2969da
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000262.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000263.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000263.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad7f1139a8b3d61a8dcdb08375d0de65e5f751f4
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000263.json
@@ -0,0 +1,143 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000264.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000264.json
new file mode 100644
index 0000000000000000000000000000000000000000..d439867be85c65874b7bb01409cf8caecd2de565
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000264.json
@@ -0,0 +1,139 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..9211f868d5e2e9b7a171d120aeeb430f9def0ff8
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000265.json
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..57e7b1d8215612f4f011d4b331bd700943d33357
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000266.json
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..e91fa187131f5b18552a8e11f970ae32f0dacdf5
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000267.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000268.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000268.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e0fdae1379b1af14f19b9fc4a533333490a2ab2
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000268.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000269.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000269.json
new file mode 100644
index 0000000000000000000000000000000000000000..abbcd3f88986e4fabcce58bc83ed626c468eb58c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000269.json
@@ -0,0 +1,140 @@
+{
+    "task": "Take both arms to grasp the light brown roller.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000270.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000270.json
new file mode 100644
index 0000000000000000000000000000000000000000..56e3c966e278afff46ddce1c4906e65cb44bf992
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000270.json
@@ -0,0 +1,138 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..4d0acc9125be7715e4769a2a32f291fad4c440aa
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000271.json
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..05f46f5428130b405d8543617ab16d6573b7a1c3
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000272.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000273.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000273.json
new file mode 100644
index 0000000000000000000000000000000000000000..deb75058fc81af1f57fe941d38f3383edf99952a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000273.json
@@ -0,0 +1,142 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000274.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000274.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9a20f800b92f3e6ae5aa7e5a525cfda8e9b58de
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000274.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000275.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000275.json
new file mode 100644
index 0000000000000000000000000000000000000000..cda79c5afd7c0931490fd8e427b53db83863acba
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000275.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000276.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000276.json
new file mode 100644
index 0000000000000000000000000000000000000000..e279635775110f810f888a0c8661eab54f64cf31
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000276.json
@@ -0,0 +1,141 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000277.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000277.json
new file mode 100644
index 0000000000000000000000000000000000000000..4396db615c75884eb79bc8ef244c1c4da0dfd2af
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000277.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000278.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000278.json
new file mode 100644
index 0000000000000000000000000000000000000000..d16150b7811d13365a4ece04c08d31e48c4187d8
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000278.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000279.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000279.json
new file mode 100644
index 0000000000000000000000000000000000000000..be389e2285cee433fb62f4386172f18e21a9a222
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000279.json
@@ -0,0 +1,139 @@
+{
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+            "action_text": "Pick up the narrow tapered roller from the table.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000280.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000280.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c611b9fa4b7364f8a1b7110b12e67de40ef2b2b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000280.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000281.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000281.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7503b26fbea186cc2c68e737785284c8fc714c9
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000281.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000282.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000282.json
new file mode 100644
index 0000000000000000000000000000000000000000..b96f6d9806128d0730f73a8fa41ac60d778d6fbd
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000282.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000283.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000283.json
new file mode 100644
index 0000000000000000000000000000000000000000..de26d8e1c991ed6ee671cd0da281e43584682e8c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000283.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000284.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000284.json
new file mode 100644
index 0000000000000000000000000000000000000000..625c75d038bcce2d27c56304b725a3a81009b2d3
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000284.json
@@ -0,0 +1,140 @@
+{
+    "task": "Reach out to grab the light wood roller from the table",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000285.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000285.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e04109799919e32eede8fd22710ac36d2b241f6
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000285.json
@@ -0,0 +1,142 @@
+{
+    "task": "Hold the light wood roller from the table.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000286.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000286.json
new file mode 100644
index 0000000000000000000000000000000000000000..528c825420a1fae038ea9c35a97754f7526be230
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000286.json
@@ -0,0 +1,139 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..0d5d443ddf2ca33cf7dfeb7cf6de11d4226c947a
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000287.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000289.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000289.json
new file mode 100644
index 0000000000000000000000000000000000000000..4361b8ff52409920865408a87a7735f5adbdada6
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000289.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000290.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000290.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4ae5c22c3ed24c00bdb756dee15f2f0661567da
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000290.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000291.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000291.json
new file mode 100644
index 0000000000000000000000000000000000000000..516447df50a4ebd1c71856d873a1bb96299e47a9
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000291.json
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..a96b0e9b261ffe141c706c6a4abd0124db218692
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000292.json
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..852db6f7b88d6e899c476d884c7bfb79341fb971
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000293.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000294.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000294.json
new file mode 100644
index 0000000000000000000000000000000000000000..471d2d777283cc0016a5ae8bb96a927a6cce4151
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000294.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000295.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000295.json
new file mode 100644
index 0000000000000000000000000000000000000000..df5a358e431e69bb0bc27830f55042a7fe44cf75
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000295.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000296.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000296.json
new file mode 100644
index 0000000000000000000000000000000000000000..26153d1e7f11b5a75fea9767004512cecaaff5ff
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000296.json
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new file mode 100644
index 0000000000000000000000000000000000000000..ace863d23c26d13e6c0938e440809378e4369ec3
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000297.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000298.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000298.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ea7a0c5587226d8eb2caaf93fa6fc250da4874d
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000298.json
@@ -0,0 +1,139 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..255b839dc73571a4bce57da59909e99a2f35a648
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000299.json
@@ -0,0 +1,141 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000300.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000300.json
new file mode 100644
index 0000000000000000000000000000000000000000..f784ad583d36f0a99bfdcd2aada278f42e5a8edf
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000300.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000301.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000301.json
new file mode 100644
index 0000000000000000000000000000000000000000..af484325abb63f1137bddbaacb539fc529eb9e9e
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000301.json
@@ -0,0 +1,141 @@
+{
+    "task": "Use both arms to grip the cylindrical roller with tapered ends tightly.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000302.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000302.json
new file mode 100644
index 0000000000000000000000000000000000000000..6098574c15bf1791b267dc41d5a204677871dfaa
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000302.json
@@ -0,0 +1,140 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..abcf253972421aa25837c030fb5d74c9a4f59f87
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000303.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000304.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000304.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f22a314cda5686083f4a91d0c342eb6ac6041c5
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000304.json
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..e0022d98869e06e3263095282849cd78716623b1
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000305.json
@@ -0,0 +1,140 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000306.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000306.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcdfa342807f3e8d8f2c869d112d1c33b1ea4a7a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000306.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000307.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000307.json
new file mode 100644
index 0000000000000000000000000000000000000000..290c53be10f7500c3a8aa118a8cfdd82aafb75c2
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000307.json
@@ -0,0 +1,140 @@
+{
+    "task": "Grasp the palm-length roller firmly with arms.",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode307",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000308.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000308.json
new file mode 100644
index 0000000000000000000000000000000000000000..f14941ff51a842f92825095b695917e929118345
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000308.json
@@ -0,0 +1,139 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..eb139b6fdb94341202a51c39041df76a9ae98c71
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000309.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000310.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000310.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e7d9ba0fde327d4d07ad5901936f25f6abed4fe
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000310.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000311.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000311.json
new file mode 100644
index 0000000000000000000000000000000000000000..02aec4589b8321ea5b4147f401f1459e8bae94fb
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000311.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000312.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000312.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b6779f579a1c02ee79463e6b314d32af04a432e
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000312.json
@@ -0,0 +1,141 @@
+{
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+            "Videos are stored as full resized episodes; sampled_frame_ids are only recorded in source_meta.",
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+            "right_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode312.hdf5::observation/right_camera/rgb"
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000313.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000313.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba0124116b09bbab2ea5d4b074a5401d54281eec
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000313.json
@@ -0,0 +1,142 @@
+{
+    "task": "Reach out to grab the roller shaped like cylinder from the table",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode313",
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+            "Videos are stored as full resized episodes; sampled_frame_ids are only recorded in source_meta.",
+            "observation.state/action repaired from RobotWin endpose as 16D xyz+wxyz+gripper EEF targets."
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+        },
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000314.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000314.json
new file mode 100644
index 0000000000000000000000000000000000000000..42d2e12547b9bfdcd2608518b65abca0f178c88f
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000314.json
@@ -0,0 +1,141 @@
+{
+    "task": "Lift the brown roller from the table.",
+    "source_name": "robotwin",
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+            "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode314.hdf5",
+            "instruction": "Lift the brown roller from the table.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000315.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000315.json
new file mode 100644
index 0000000000000000000000000000000000000000..25a8baeefaea647406008ebf921fd3869f5e5ca1
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000315.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000316.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000316.json
new file mode 100644
index 0000000000000000000000000000000000000000..15872447e10f073db9040ee60e5eb7bf204fb601
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000316.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000317.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000317.json
new file mode 100644
index 0000000000000000000000000000000000000000..34229ba412b29d6957571985daccf2234f3f767d
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000317.json
@@ -0,0 +1,140 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..4ff66e82e1912d3937e50a72f8feb70134e414cb
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000318.json
@@ -0,0 +1,141 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000319.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000319.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9cc783f06ebd542848a0158ece88e7ee1f1104d
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000319.json
@@ -0,0 +1,142 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000320.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000320.json
new file mode 100644
index 0000000000000000000000000000000000000000..094eb2f447524e589cba7f10ee4bebce03628729
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000320.json
@@ -0,0 +1,140 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000321.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000321.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3a023c4526c5e46a99eaecd6bd8fdc77fe17e44
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000321.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000322.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000322.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0c76f8dbb6ef3bc279f373e1b1c6e0e0d6383f6
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000322.json
@@ -0,0 +1,140 @@
+{
+    "task": "Grasp the wood roller on the table.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000323.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000323.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6c067b9e3f8a622d6a26df36696a59427aee9c4
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000323.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000324.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000324.json
new file mode 100644
index 0000000000000000000000000000000000000000..9758f1409389538382724c51eecea83e86cb7636
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000324.json
@@ -0,0 +1,140 @@
+{
+    "task": "Firmly grip the medium-sized roller on the table now.",
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000325.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000325.json
new file mode 100644
index 0000000000000000000000000000000000000000..7167d468b50ac20d0e28dbea6a2116efcf46b46b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000325.json
@@ -0,0 +1,141 @@
+{
+    "task": "Take hold of the roller with polished surface using your arms.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode325",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000326.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000326.json
new file mode 100644
index 0000000000000000000000000000000000000000..e60ca3a0a89c14ebe456bd0928133045b74de861
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000326.json
@@ -0,0 +1,140 @@
+{
+    "task": "Pick up the narrow tapered roller using both arms equally",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode326",
+    "action_config": [
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+            "end_frame": 93,
+            "action_text": "Pick up the narrow tapered roller using both arms equally",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000327.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000327.json
new file mode 100644
index 0000000000000000000000000000000000000000..d42b4eaa7b524e3e387ce35e4fb12ad37f2825e3
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000327.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000328.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000328.json
new file mode 100644
index 0000000000000000000000000000000000000000..da4d77b545a1ae4c3fcc2f1b2735fad636643d0c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000328.json
@@ -0,0 +1,141 @@
+{
+    "task": "Reach out to grab the light brown wooden roller from the table",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode328",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000329.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000329.json
new file mode 100644
index 0000000000000000000000000000000000000000..33208caabf75f04b85e6efd82a09d6b72842aa01
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000329.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000330.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000330.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa7ccb98dbbc25fdb6968ed71ee332caf47da29a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000330.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000331.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000331.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2c96e6bc0270a4d611160c9ffe8918afba07b63
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000331.json
@@ -0,0 +1,139 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000332.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000332.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f6ca0e0d139473cd3be9a3fe61ff6f4111c8873
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000332.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000333.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000333.json
new file mode 100644
index 0000000000000000000000000000000000000000..db0932407ded1f41df4347962da9aac0d15bbc77
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000333.json
@@ -0,0 +1,141 @@
+{
+    "task": "Secure the medium-sized roller from the table using arms",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000334.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000334.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e93bd618f15c7da41505a092443a3f64fd15faf
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000334.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000335.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000335.json
new file mode 100644
index 0000000000000000000000000000000000000000..55352bfcfb03ac470b310fb01e5083c6f1c83847
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000335.json
@@ -0,0 +1,139 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000336.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000336.json
new file mode 100644
index 0000000000000000000000000000000000000000..367d8cd786a3e166227470f9302d6e016b88e129
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000336.json
@@ -0,0 +1,141 @@
+{
+    "task": "Grasp the smooth cylindrical roller firmly from the table.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode336",
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+            "action_text": "Grasp the smooth cylindrical roller firmly from the table.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000337.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000337.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e2871fd8f09134a0406c7280c521005bc67831a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000337.json
@@ -0,0 +1,138 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000338.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000338.json
new file mode 100644
index 0000000000000000000000000000000000000000..64eb85014bdf74d1cf920105aa65a4edc81cd266
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000338.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000339.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000339.json
new file mode 100644
index 0000000000000000000000000000000000000000..bacd04631939ccb553ffccf11984e56e0655087e
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000339.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000340.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000340.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb9d9861fcef8e24f2e15f86ecf555f402df1fb3
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000340.json
@@ -0,0 +1,140 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..039f3656b979fc02988814399aba64c4d2846b66
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000341.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000342.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000342.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe373c46d45bb34164849b593944e28f8e4d6d23
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000342.json
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..e31ae902970234e3a06f3146ebb2a66e28f0fba9
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000343.json
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new file mode 100644
index 0000000000000000000000000000000000000000..9488e7e35995a5834207e90fa445355147b15bf3
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000344.json
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new file mode 100644
index 0000000000000000000000000000000000000000..f0e8717f276afb9fe60d24f5464912a2ab0c5c33
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000345.json
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new file mode 100644
index 0000000000000000000000000000000000000000..36f22499e45a0dde2f67576dd85eb6cc66ec6c38
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000346.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000347.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000347.json
new file mode 100644
index 0000000000000000000000000000000000000000..b01821ae69022c6dbc0e3bd906d59a95206b2fab
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000347.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000348.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000348.json
new file mode 100644
index 0000000000000000000000000000000000000000..93d6bdbe2844528f3bd46faaaaaff53a5d5568e6
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000348.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000349.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000349.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dd909cedd75d971eaac19eded9f042eefce55bf
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000349.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000350.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000350.json
new file mode 100644
index 0000000000000000000000000000000000000000..97727a2d675c26c6d32e1dd3447ed03fc13fc560
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000350.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000351.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000351.json
new file mode 100644
index 0000000000000000000000000000000000000000..e46d27c5ba823624a86d00326373547c20782eb1
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000351.json
@@ -0,0 +1,141 @@
+{
+    "task": "Pick up the light wood roller using both arms.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000352.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000352.json
new file mode 100644
index 0000000000000000000000000000000000000000..110cd33b722f273fd811127808e8071e17e2b49e
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000352.json
@@ -0,0 +1,140 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..2b3b7f16ea76be7e575304bd00bc415751029813
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000353.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000354.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000354.json
new file mode 100644
index 0000000000000000000000000000000000000000..95b39c9d30d39808294dd2334b455326ec85cc5c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000354.json
@@ -0,0 +1,141 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..cc8724c0c99a731a36dc9d357e0ab82fa4248f98
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000355.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000356.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000356.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d33341d5c58ed8e9896cf8cb8180cd04dd73444
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000356.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000357.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000357.json
new file mode 100644
index 0000000000000000000000000000000000000000..b22a40d9c62bbb1857f6a2917c7e7ea5efc08a4b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000357.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000358.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000358.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a0097a4fa73517aa55b0a9b01c3c92f5200abc4
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000358.json
@@ -0,0 +1,140 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..07502119638191872384d9f8b0248337e54e788e
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000359.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000360.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000360.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed53f6302058547ea99ddc9c7064828eda506bdf
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000360.json
@@ -0,0 +1,138 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000361.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000361.json
new file mode 100644
index 0000000000000000000000000000000000000000..5948452fe2410073f72960c55449bfd30e088b17
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000361.json
@@ -0,0 +1,140 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000362.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000362.json
new file mode 100644
index 0000000000000000000000000000000000000000..05c6545101a412675cf49a324bff79eb9896748b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000362.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000363.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000363.json
new file mode 100644
index 0000000000000000000000000000000000000000..f60d3bb346c4680043929a97741a6f5795484a59
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000363.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000364.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000364.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec9d82193d4e6925dafd02619029775905f17c67
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000364.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000365.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000365.json
new file mode 100644
index 0000000000000000000000000000000000000000..13920d591ca6c7406bd58536dd6cba4cd2f5ac2a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000365.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000366.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000366.json
new file mode 100644
index 0000000000000000000000000000000000000000..95bbca935dd628927f3cbce6b679960a2bae7f39
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000366.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000367.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000367.json
new file mode 100644
index 0000000000000000000000000000000000000000..07987034f979a655ff678f4ca6d83a812d181c0d
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000367.json
@@ -0,0 +1,140 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..214f8a60d89a28245b1120c88806a5eb2d7a10ce
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000368.json
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new file mode 100644
index 0000000000000000000000000000000000000000..a2b9ecfe6735f75a370e6456ffb98472dc0fdb96
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000369.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000370.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000370.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e6f9486ed567d8b3f03bf90ccfd5b5eadd36c74
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000370.json
@@ -0,0 +1,140 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000371.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000371.json
new file mode 100644
index 0000000000000000000000000000000000000000..0940f6f5cb3571971e2a42385576fc2f0cf905f0
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000371.json
@@ -0,0 +1,143 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000372.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000372.json
new file mode 100644
index 0000000000000000000000000000000000000000..ade79357b923cc5fe12cfa867220abcc3785b92d
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000372.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000373.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000373.json
new file mode 100644
index 0000000000000000000000000000000000000000..7952465ff7e88cf400e827abe47712d4c11babbc
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000373.json
@@ -0,0 +1,141 @@
+{
+    "task": "Secure the brown roller on the table using arms.",
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+    "action_config": [
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000374.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000374.json
new file mode 100644
index 0000000000000000000000000000000000000000..9861d1a989576695977cfc834d1c8e22a9a9f64c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000374.json
@@ -0,0 +1,141 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..b6d485fe3a069c0d5510e058292867ec7b8baeae
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000375.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000377.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000377.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee6cd1c3cc10b85ab404eb3137f5da0dbd6e2152
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000377.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000378.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000378.json
new file mode 100644
index 0000000000000000000000000000000000000000..762640c94f809ac36812b4202f778155ad6d8cb9
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000378.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000379.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000379.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c1651a1741acc62253d9ad151011f5d4640337d
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000379.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000380.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000380.json
new file mode 100644
index 0000000000000000000000000000000000000000..48c00234849909cd61e3817b9ede21ed6aedbc0c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000380.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000381.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000381.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1635626cf5b2ae4a14af02b36d2da4e5304fa5e
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000381.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000382.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000382.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f9e57596e796f929ff5a57eab9bddd3cab636c9
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000382.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000383.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000383.json
new file mode 100644
index 0000000000000000000000000000000000000000..571a9f7caa5009a7559c7130557fc1cdedd0511d
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000383.json
@@ -0,0 +1,140 @@
+{
+    "task": "Secure the palm-sized roller with both arms.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000384.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000384.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f280d4d164100eaffe132858a8e295d85dc0c85
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000384.json
@@ -0,0 +1,141 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000385.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000385.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd25f73291d44edc95c673d5a3b03ef9fc56ba2f
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000385.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000386.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000386.json
new file mode 100644
index 0000000000000000000000000000000000000000..23948e9b51907941fc6c08a9440c882d85629e27
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000386.json
@@ -0,0 +1,140 @@
+{
+    "task": "Take hold of the smooth cylindrical roller with arms.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000387.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000387.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e96f362727055db51edeabb6f49cb0b24917ae6
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000387.json
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new file mode 100644
index 0000000000000000000000000000000000000000..2889e6e3d068b5734796907d910ab1ac909fd2ce
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000388.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000389.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000389.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe00d8d2fc44c1641b17ed36e8a7c0e4a35595e1
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000389.json
@@ -0,0 +1,142 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..2eaf0757f39cde3e5d8d5e3a65fbd13545b3c5b0
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000390.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000391.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000391.json
new file mode 100644
index 0000000000000000000000000000000000000000..be8a490b68699a62f3d784d2b76906bbe767b6e4
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000391.json
@@ -0,0 +1,141 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000392.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000392.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e2d892d1db7eec98c1952008c1f23c5511006ec
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000392.json
@@ -0,0 +1,139 @@
+{
+    "task": "Lift the smooth light brown roller from the table carefully.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000393.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000393.json
new file mode 100644
index 0000000000000000000000000000000000000000..da4b1ef47db873f4af6ed60baac4f60add9fecf8
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000393.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000394.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000394.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dd8c3fafd2518bc6660957cb3ad3eadff1ed041
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000394.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000395.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000395.json
new file mode 100644
index 0000000000000000000000000000000000000000..54fb14b9bba701a1f16849411ff9985d515e2ea0
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000395.json
@@ -0,0 +1,139 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..c694adff8fa40fa4ae2e4593fb94bea4517f28ed
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000396.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000397.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000397.json
new file mode 100644
index 0000000000000000000000000000000000000000..82fb81dbcf557dbea035a309fad85d6509cf5ce0
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000397.json
@@ -0,0 +1,139 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000398.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000398.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaa6e170aefff3cb426f22181c83438ed5603aec
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000398.json
@@ -0,0 +1,140 @@
+{
+    "task": "Secure the roller shaped like cylinder from the table using arms",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode398",
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+            "action_text": "Secure the roller shaped like cylinder from the table using arms",
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000399.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000399.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b7c4e5fa824ae57e9fa90e8c5e6359fa8430e6e
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000399.json
@@ -0,0 +1,141 @@
+{
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode399",
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+            "action_text": "Lift the light brown wooden roller from the table carefully.",
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+            "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode399.hdf5",
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new file mode 100644
index 0000000000000000000000000000000000000000..80c8426843daface21fd7927f933e80a7b2b488d
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000400.json
@@ -0,0 +1,138 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000401.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000401.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe04261396276933d5eac9a3e2bff94f8662a76f
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000401.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000402.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000402.json
new file mode 100644
index 0000000000000000000000000000000000000000..e43c65ddec3822809d07e1ae64be6b87bbafe406
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000402.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000403.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000403.json
new file mode 100644
index 0000000000000000000000000000000000000000..33e7e87e7dcee6ae309477df26847b6c39e3986b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000403.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000404.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000404.json
new file mode 100644
index 0000000000000000000000000000000000000000..0feccbdedf8bed07bd301fdd52fbb1fc297afe6b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000404.json
@@ -0,0 +1,140 @@
+{
+    "task": "Take hold of the light brown wooden roller with arms.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000405.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000405.json
new file mode 100644
index 0000000000000000000000000000000000000000..766d6a34970ccc8b64dd5d92272a62cc86a26c2c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000405.json
@@ -0,0 +1,139 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..1abcf4f97ca9b5fef0c4685bb64b155d62ea27d5
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000406.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000407.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000407.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0b494e1aab25b6957afc6a4f6af62061acd9b26
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000407.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000408.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000408.json
new file mode 100644
index 0000000000000000000000000000000000000000..110620298d536e67b91a5c5f656d86d422ae20a5
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000408.json
@@ -0,0 +1,139 @@
+{
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+            "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode408.hdf5",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000409.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000409.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac3286b0e8e2e59a7eb61f7a3c3e5ac9e27d029f
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000409.json
@@ -0,0 +1,141 @@
+{
+    "task": "Use both arms to grip the roller shaped like cylinder tightly.",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode409",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000410.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000410.json
new file mode 100644
index 0000000000000000000000000000000000000000..db12399a127fa6ea3e808231b05057b81994641b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000410.json
@@ -0,0 +1,141 @@
+{
+    "task": "Grasp the smooth light brown roller firmly from the table.",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode410",
+    "action_config": [
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000411.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000411.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ce5f367e1475041e4fa00efd8f6ddcb74de63e5
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000411.json
@@ -0,0 +1,139 @@
+{
+    "task": "Take hold of the long slim roller.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode411",
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+            "end_frame": 90,
+            "action_text": "Take hold of the long slim roller.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000412.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000412.json
new file mode 100644
index 0000000000000000000000000000000000000000..d648bf948e78f23920f335b78a28c50cd7b86d58
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000412.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000413.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000413.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8b4291de92c6e6586ffa4254d95b50a69e747ac
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000413.json
@@ -0,0 +1,139 @@
+{
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+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode413",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000414.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000414.json
new file mode 100644
index 0000000000000000000000000000000000000000..00e618536419c0a72be2bd9281c572b91c86e0e1
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000414.json
@@ -0,0 +1,139 @@
+{
+    "task": "Reach out to grab the roller with polished surface from the table",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode414",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000415.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000415.json
new file mode 100644
index 0000000000000000000000000000000000000000..86614c37657729ceb13b579d08e62b855f05fb07
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000415.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000416.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000416.json
new file mode 100644
index 0000000000000000000000000000000000000000..97a67263fed6610abdfa1ae26551bb1ebb48c7d7
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000416.json
@@ -0,0 +1,141 @@
+{
+    "task": "Lift the smooth light brown roller from the table carefully.",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode416",
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+            "Videos are stored as full resized episodes; sampled_frame_ids are only recorded in source_meta.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000417.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000417.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9efd1c133527a2c2fb984362bc18b462957b790
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000417.json
@@ -0,0 +1,139 @@
+{
+    "task": "Reach for the narrow tapered roller and grab it firmly.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode417",
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000418.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000418.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b65c34ca7fa9c4d150724ea52f0374d23994a8c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000418.json
@@ -0,0 +1,141 @@
+{
+    "task": "Hold the wood roller firmly from the table.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode418",
+    "action_config": [
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+            "action_text": "Hold the wood roller firmly from the table.",
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+            "instruction": "Hold the wood roller firmly from the table.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000419.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000419.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4203c385876287295737ed44ddf54c013e003d9
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000419.json
@@ -0,0 +1,140 @@
+{
+    "task": "Grasp the long slim roller on the table.",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode419",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000420.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000420.json
new file mode 100644
index 0000000000000000000000000000000000000000..f016800b24578adcbc5774b57228a03d240538e7
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000420.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000421.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000421.json
new file mode 100644
index 0000000000000000000000000000000000000000..791f99eb4d3dd3e507707317f095cf66431348f5
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000421.json
@@ -0,0 +1,139 @@
+{
+    "task": "Secure the palm-length roller with both arms.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode421",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000422.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000422.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5cd4421e395a5bd6a7c41b63b46859474da467c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000422.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000423.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000423.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c4369f5974e654d6dfe2f4f449d30c02272a41a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000423.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000424.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000424.json
new file mode 100644
index 0000000000000000000000000000000000000000..b72ef788ed28d2fe858bd131772c2facd871ed6b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000424.json
@@ -0,0 +1,140 @@
+{
+    "task": "Lift the roller for smoothing materials off the table with both arms",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode424",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000425.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000425.json
new file mode 100644
index 0000000000000000000000000000000000000000..421d2262bb99b7db1cc5b8b8c604226a41c4f1e1
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000425.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000426.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000426.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fa2327bbd931376c8225d2d8127bbfcaeda9050
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000426.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000427.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000427.json
new file mode 100644
index 0000000000000000000000000000000000000000..a47ec4153b9da8d080ce30bccd635fcf5b086072
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000427.json
@@ -0,0 +1,140 @@
+{
+    "task": "Pick up the long slim roller using both arms equally",
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode427",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000428.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000428.json
new file mode 100644
index 0000000000000000000000000000000000000000..574daa217dd1af80e7c26ad5d885261735a07ad0
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000428.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000429.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000429.json
new file mode 100644
index 0000000000000000000000000000000000000000..951a2aa85695170c23b89e9c6040187ccec33347
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000429.json
@@ -0,0 +1,139 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000430.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000430.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8be46515f300fea827cc52ddf94ec92beee896c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000430.json
@@ -0,0 +1,140 @@
+{
+    "task": "Grip the brown roller firmly with arms.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000431.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000431.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ad96cca0e721837caff5beac7e9dcea08d74a97
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000431.json
@@ -0,0 +1,138 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000432.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000432.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f96226d4dee0bb99657b42fe01d37eb92df124c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000432.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000433.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000433.json
new file mode 100644
index 0000000000000000000000000000000000000000..076df40e50a90e3b9a182b5e10a708a41179904c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000433.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000434.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000434.json
new file mode 100644
index 0000000000000000000000000000000000000000..4710f4d8f6d29b5dedd6909ceb85c67590c7cf79
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000434.json
@@ -0,0 +1,138 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000435.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000435.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dff818e78b4da6c39a8cbf98330d6ce4900803a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000435.json
@@ -0,0 +1,141 @@
+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000436.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000436.json
new file mode 100644
index 0000000000000000000000000000000000000000..7195870adfccb4f6aab0853dc0730c93ca5e7447
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000436.json
@@ -0,0 +1,141 @@
+{
+    "task": "Lift the cylindrical roller with tapered ends with your arms.",
+    "source_name": "robotwin",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000437.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000437.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef63c7b5b548bf28e4446e8e367fdfb75960c918
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000437.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000438.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000438.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ba8156244391d6b4da6b02af34ddae04e15b7a1
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000438.json
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+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000439.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000439.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec8af88d188d9e4f99eb545b12814d1ca5f8a3e9
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000439.json
@@ -0,0 +1,140 @@
+{
+    "task": "Grab the cylindrical roller with tapered ends placed on the table.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000440.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000440.json
new file mode 100644
index 0000000000000000000000000000000000000000..642ec40991819a243265f7da833fd9839a615268
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000440.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000441.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000441.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd76f5102ca1ad3f5e1f1462d962fbeb0d835af1
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000441.json
@@ -0,0 +1,140 @@
+{
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode441",
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000442.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000442.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea15e482a737bb999f5777d6850c396b72fb11de
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000442.json
@@ -0,0 +1,140 @@
+{
+    "task": "Pick up the light wood roller from the table.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode442",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000443.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000443.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9ff17ad2fbb4a63eb3ccbfb2a7c11829caadd62
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000443.json
@@ -0,0 +1,140 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..b692a71e37931867199d76b19c6e9f718b716878
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000444.json
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new file mode 100644
index 0000000000000000000000000000000000000000..aea8cb7e123d6bdc861d69302d1b77060be983f6
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000445.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000446.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000446.json
new file mode 100644
index 0000000000000000000000000000000000000000..b22633fa89c8938b562872f0bd311941b8403d79
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000446.json
@@ -0,0 +1,140 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000447.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000447.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef7f9a1ef884541555fafcaa2fa9d73e8fbae3e8
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000447.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000448.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000448.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f9b8c4ac4e0755a4831d0cc7a4c9f55d10b159c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000448.json
@@ -0,0 +1,140 @@
+{
+    "task": "Lift the roller with smooth and shiny texture with your arms.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000449.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000449.json
new file mode 100644
index 0000000000000000000000000000000000000000..e32dc342ae427694b54d13529fbf69a3e4096ec6
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000449.json
@@ -0,0 +1,139 @@
+{
+    "task": "Use arms to hold the light brown roller tightly.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000450.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000450.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb833623268e41a25f3e4145f890e53a500544a1
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000450.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000451.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000451.json
new file mode 100644
index 0000000000000000000000000000000000000000..16a25a3d5ebc554212a1c3e51d27d853b212e8b9
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000451.json
@@ -0,0 +1,138 @@
+{
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode451",
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+            "action_text": "Hold the medium-sized roller firmly from the table.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000452.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000452.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bd04da74c14460f41b4376c8456832323b97990
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000452.json
@@ -0,0 +1,139 @@
+{
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+            "action_text": "Bring both arms to grab the narrow tapered roller.",
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+            "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode452.hdf5",
+            "instruction": "Bring both arms to grab the narrow tapered roller.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000453.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000453.json
new file mode 100644
index 0000000000000000000000000000000000000000..50b87a292dee5d6f27b1a2577fd8c6cd7efc510b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000453.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000454.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000454.json
new file mode 100644
index 0000000000000000000000000000000000000000..08f64ff05a2dabd451ea1c6d87e2f055db68c93a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000454.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000455.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000455.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c7a319313db8089bb205f256cd9dff2c1d1750d
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000455.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000456.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000456.json
new file mode 100644
index 0000000000000000000000000000000000000000..28dd9966585d41b5991106327338ac58ad9ff8dd
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000456.json
@@ -0,0 +1,139 @@
+{
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+            "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode456.hdf5",
+            "instruction": "Use both arms to grip the palm-length roller tightly.",
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000457.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000457.json
new file mode 100644
index 0000000000000000000000000000000000000000..46408acfde6f2bed53a1bf52b5fd2ac832302f46
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000457.json
@@ -0,0 +1,142 @@
+{
+    "task": "Secure the light brown roller with both arms.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode457",
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+            "Videos are stored as full resized episodes; sampled_frame_ids are only recorded in source_meta.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000458.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000458.json
new file mode 100644
index 0000000000000000000000000000000000000000..60fb81a6887547242bbf28ee7fd7ae1413f9e372
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000458.json
@@ -0,0 +1,141 @@
+{
+    "task": "Grasp the wood roller firmly with arms.",
+    "source_name": "robotwin",
+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode458",
+    "action_config": [
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000459.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000459.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9e87a0abf5b835e28f02836a8e897c05f03faed
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000459.json
@@ -0,0 +1,140 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..369ccedf0b7f65aa7f79332bafb5c82de479d12b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000460.json
@@ -0,0 +1,138 @@
+{
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000461.json
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+{
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+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000462.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000462.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bae969f1dec10bd0d2be954b3a3b291d2e6691a
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000462.json
@@ -0,0 +1,139 @@
+{
+    "task": "Secure the light brown roller using your arms.",
+    "source_name": "robotwin",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000463.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000463.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c807dd7d0c46d381a6c6986ec2a1606acfe5c85
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000463.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000464.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000464.json
new file mode 100644
index 0000000000000000000000000000000000000000..73ebc1ea9d5ce51b226b5d5989e3d4477c73fb70
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000464.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000465.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000465.json
new file mode 100644
index 0000000000000000000000000000000000000000..4eb7adf603bfcd5acfef5c80765429448951a814
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000465.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000466.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000466.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e8675cb48e25be00a0c34432c8281e079ad289e
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000466.json
@@ -0,0 +1,141 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000467.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000467.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f4858e2fb6332f8a55754a014b848589cb4cd47
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000467.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000468.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000468.json
new file mode 100644
index 0000000000000000000000000000000000000000..589fe1f310f7352d5dbb959ba17fa548170022d6
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000468.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000469.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000469.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac0073d5f61db94317e51d2d22198da3e1431358
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000469.json
@@ -0,0 +1,138 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..a02bb0d86110ef9d84f842c67bb574d5020e1f12
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000470.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000471.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000471.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8aacffa91c8525f99d2aeaf2b304b1a39742490
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000471.json
@@ -0,0 +1,140 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..afd25b39b688bcf55e94a3304f4edcca1c57b52a
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000472.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000473.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000473.json
new file mode 100644
index 0000000000000000000000000000000000000000..4825fd648b226356422b901c4216adf6c0d1fdf9
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000473.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000474.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000474.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a4ce99e6d3a3cc636900fcd59dd6e33a3fa7a6b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000474.json
@@ -0,0 +1,141 @@
+{
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+    "source_episode_id": "grab_roller-aloha-agilex_randomized_500:episode474",
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new file mode 100644
index 0000000000000000000000000000000000000000..e51d6c0a67546eaf96c9768460b3d35ef04d40b4
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000475.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000476.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000476.json
new file mode 100644
index 0000000000000000000000000000000000000000..c41502e1fd57de4f3039374c287c6b060fd5c172
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000476.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000477.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000477.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c058e49a1b15541b15b1dbd9d5fcf5d4d765e83
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000477.json
@@ -0,0 +1,141 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..46e781f546cc2d55a5e9ff756e7ba4273096cecd
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000478.json
@@ -0,0 +1,142 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000479.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000479.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4300411761f554eb33ca72538212f3c2c9d83e0
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000479.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000480.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000480.json
new file mode 100644
index 0000000000000000000000000000000000000000..77fe4586e830bca35e5254ba9d1ea452b57cfa6f
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000480.json
@@ -0,0 +1,141 @@
+{
+    "task": "Take hold of the narrow tapered roller.",
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new file mode 100644
index 0000000000000000000000000000000000000000..26f7ed1f99c7f1c1eed20324c30d39dff325b774
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000481.json
@@ -0,0 +1,141 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..74421e81ee40a2215139e12cb9314c42baa97e37
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000482.json
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new file mode 100644
index 0000000000000000000000000000000000000000..6ce9b32385bfcab1b22d839f0c6b4c3139e0b714
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000483.json
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..d9a94ca3c2bee2a7991cbef5e8b8b7d5d7b8cd76
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+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000484.json
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000485.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000485.json
new file mode 100644
index 0000000000000000000000000000000000000000..58c538ef9c2034d5e0b64a14f64d4ac6d53939a1
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000485.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000486.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000486.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb55e2eefdaf88cecaafb32d25ea79df29e310cc
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000486.json
@@ -0,0 +1,139 @@
+{
+    "task": "Hold the wooden rolling tool on the table with hands.",
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000487.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000487.json
new file mode 100644
index 0000000000000000000000000000000000000000..77a96d0d685cd0bc7c13462abbbc59bf85e1b315
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000487.json
@@ -0,0 +1,140 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..5ac6a96282fdf5933ec27e976927f1d9005406f0
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000488.json
@@ -0,0 +1,141 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..5833a50fa80c9d63ed64f3ec07f66b58b73e5a5c
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000489.json
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+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000490.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000490.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd0a274bf5ee7993451d1305a49e2384108943bf
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000490.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000491.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000491.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b95d31492f959c3ef20e70d09254dc8256a9a77
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000491.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000492.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000492.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fc0fe546b4421c006813da8f54e195edab021d9
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000492.json
@@ -0,0 +1,140 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000493.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000493.json
new file mode 100644
index 0000000000000000000000000000000000000000..d79189cec35b7018f8ae8be4faa48e9c277a5033
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000493.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000494.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000494.json
new file mode 100644
index 0000000000000000000000000000000000000000..071b03a355be9535b31e6f5613e1c362d96134f3
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000494.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000495.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000495.json
new file mode 100644
index 0000000000000000000000000000000000000000..6421af2b9f9d77dd9cbba4736fdf774d13695118
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000495.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000496.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000496.json
new file mode 100644
index 0000000000000000000000000000000000000000..00036595aea8aaddb25acf8e2214a32cca1d141b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000496.json
@@ -0,0 +1,141 @@
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000497.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000497.json
new file mode 100644
index 0000000000000000000000000000000000000000..070a254abdd6aa6bd2609ef30c14c3cbd888c8f6
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000497.json
@@ -0,0 +1,141 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000498.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000498.json
new file mode 100644
index 0000000000000000000000000000000000000000..47defe373eb48b1b8b3d7e38c070678c26b83cbe
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000498.json
@@ -0,0 +1,139 @@
+{
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diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000499.json b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000499.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea6e72e6fee318c0ee59507d49d037e4ec95390b
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/episode_000499.json
@@ -0,0 +1,140 @@
+{
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+            "action_text": "Use both arms to grab the roller for rolling.",
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+            "task_name": "grab_roller",
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+            "task_repo_name": "grab_roller-aloha-agilex_randomized_500",
+            "raw_task_config": "demo_randomized",
+            "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode499.hdf5",
+            "instruction": "Use both arms to grab the roller for rolling.",
+            "fps": 16.666666666666668,
+            "depth_sources": {
+                "main": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode499.hdf5::observation/head_camera/depth",
+                "left_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode499.hdf5::observation/left_camera/depth",
+                "right_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode499.hdf5::observation/right_camera/depth"
+            },
+            "depth_unit": "millimeter"
+        },
+        "camera_sources": {
+            "main": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode499.hdf5::observation/head_camera/rgb",
+            "left_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode499.hdf5::observation/left_camera/rgb",
+            "right_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode499.hdf5::observation/right_camera/rgb"
+        },
+        "camera_output_mapping": {
+            "observation.images.cam_main": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode499.hdf5::observation/head_camera/rgb",
+            "observation.images.cam_left_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode499.hdf5::observation/left_camera/rgb",
+            "observation.images.cam_right_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode499.hdf5::observation/right_camera/rgb"
+        },
+        "deferred_camera_sources": {},
+        "deferred_camera_output_mapping": {},
+        "fps": 16.666666666666668,
+        "frame_sample_stride": 4,
+        "sampled_frame_ids": [
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+            4,
+            8,
+            12,
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+            72,
+            76,
+            80,
+            84,
+            88,
+            92
+        ],
+        "raw_absolute_action_dim": 16,
+        "notes": [
+            "This repo was generated from wan_va.dataset.curation raw dataset readers.",
+            "observation.state is populated with raw_absolute_actions as a compatibility fallback.",
+            "Videos are stored as full resized episodes; sampled_frame_ids are only recorded in source_meta.",
+            "observation.state/action repaired from RobotWin endpose as 16D xyz+wxyz+gripper EEF targets."
+        ],
+        "observation_state_source": "raw_states",
+        "raw_qpos_dim": 14,
+        "all_camera_sources": {
+            "main": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode499.hdf5::observation/head_camera/rgb",
+            "left_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode499.hdf5::observation/left_camera/rgb",
+            "right_wrist": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode499.hdf5::observation/right_camera/rgb"
+        },
+        "video_export_results": {
+            "main": {
+                "preserved": false,
+                "method": "ffmpeg_virtual_hdf5"
+            },
+            "left_wrist": {
+                "preserved": false,
+                "method": "ffmpeg_virtual_hdf5"
+            },
+            "right_wrist": {
+                "preserved": false,
+                "method": "ffmpeg_virtual_hdf5"
+            }
+        },
+        "gt_depth_outputs": {
+            "main": {
+                "source": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode499.hdf5::observation/head_camera/depth",
+                "output_path": "/media/damoxing/datasets/vae4d/lerobot-vae4d-org/robotwin_gt_depth/grab_roller-aloha-agilex_randomized_500/depth/chunk-000/observation.images.cam_main/episode_000499.hdf5",
+                "num_frames": 93,
+                "depth_unit": "mm",
+                "depth_dtype": "uint16",
+                "depth_codec": "png",
+                "depth_png_compression": 3,
+                "depth_encoded_bytes_min": 10906,
+                "depth_encoded_bytes_max": 21298,
+                "output_camera_key": "observation.images.cam_main"
+            },
+            "left_wrist": {
+                "source": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode499.hdf5::observation/left_camera/depth",
+                "output_path": "/media/damoxing/datasets/vae4d/lerobot-vae4d-org/robotwin_gt_depth/grab_roller-aloha-agilex_randomized_500/depth/chunk-000/observation.images.cam_left_wrist/episode_000499.hdf5",
+                "num_frames": 93,
+                "depth_unit": "mm",
+                "depth_dtype": "uint16",
+                "depth_codec": "png",
+                "depth_png_compression": 3,
+                "depth_encoded_bytes_min": 2896,
+                "depth_encoded_bytes_max": 19486,
+                "output_camera_key": "observation.images.cam_left_wrist"
+            },
+            "right_wrist": {
+                "source": "/media/damoxing/datasets/robotwin-depth-f1/grab_roller/demo_randomized/data/episode499.hdf5::observation/right_camera/depth",
+                "output_path": "/media/damoxing/datasets/vae4d/lerobot-vae4d-org/robotwin_gt_depth/grab_roller-aloha-agilex_randomized_500/depth/chunk-000/observation.images.cam_right_wrist/episode_000499.hdf5",
+                "num_frames": 93,
+                "depth_unit": "mm",
+                "depth_dtype": "uint16",
+                "depth_codec": "png",
+                "depth_png_compression": 3,
+                "depth_encoded_bytes_min": 2825,
+                "depth_encoded_bytes_max": 20105,
+                "output_camera_key": "observation.images.cam_right_wrist"
+            }
+        },
+        "action_source": "robotwin_endpose_xyz_wxyz_gripper"
+    },
+    "text_instruction_source": "source_hdf5"
+}
diff --git a/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/video_resolutions.jsonl b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/video_resolutions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5e0f944444bbe14d7ce41d2b133e585069876f51
--- /dev/null
+++ b/data/aloha_clean/grab_roller-aloha-agilex_randomized_500/source_meta/video_resolutions.jsonl
@@ -0,0 +1,1500 @@
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