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diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/annotations.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d507e9eeaaf00623b0841edef2adbe06d1361399
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,23 @@
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/episodes.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ca8fdbc222a2a0aac57e607ff7209d305e025296
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,23 @@
+{"episode_index": 0, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1371}
+{"episode_index": 1, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1013}
+{"episode_index": 2, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1157}
+{"episode_index": 3, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 968}
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/episodes_stats.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..61949847663140f7844e147e3c07baf0c8ee8ee2
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,23 @@
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/info.json b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..20f59a80751802feef8758114befe19000b44218
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/modality.json b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/subtasks.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..27554ba14f3cfe4967baf813ff752b221b83f276
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Position the spoon above the salt jar opening. | Skill: approach"}
+{"subtask_index": 1, "subtask": "Hold the jar steady with one hand, then insert the spoon with the other hand into the salt jar and scoop up salt. | Skill: scoop"}
+{"subtask_index": 2, "subtask": "Lift the spoon out of the salt jar with salt on it. | Skill: lift"}
+{"subtask_index": 3, "subtask": "Transfer the spoon from the salt jar to above the paper cup. | Skill: transfer"}
+{"subtask_index": 4, "subtask": "Tilt the spoon by rotating the wrist to pour salt into the paper cup. | Skill: pour"}
+{"subtask_index": 5, "subtask": "Return the spoon to a neutral position and withdraw from the cup area. | Skill: retract"}
+{"subtask_index": 6, "subtask": "Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/tasks.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e4ef3e8b22b3a7a3e36f90999a59d38df675a40d
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/v40_validation.json b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..bde4c1c1dc97c15de38d132681dd87fac7f8b12f
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 23,
+  "frames": 20732,
+  "video_frames": {
+    "observation.images.head_left": 20732,
+    "observation.images.wrist_left": 20732,
+    "observation.images.wrist_right": 20732,
+    "observation.images.head_right": 20732,
+    "observation.images.tactile_deform": 20732,
+    "observation.images.tactile_raw": 20732
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 23
+}
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v3.0/meta/annotations.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d507e9eeaaf00623b0841edef2adbe06d1361399
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,23 @@
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+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v3.0/meta/modality.json b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v3.0/meta/stats.json b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2bb27eea06eafd1afdb7f08f0c91236d44014d8
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_20_29_53_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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+{"source_uid": "b090a04933d585ff", "num_frames": 503, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 249, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 354, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 429, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 249, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 354, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 429, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_19_23_36_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 136, "v40_language_source": "previous_published_lerobot", "episode_index": 136}
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+{"source_uid": "3c20451fd12cf235", "num_frames": 399, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 258, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 321, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 258, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 321, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_20_04_09_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 208, "v40_language_source": "previous_published_lerobot", "episode_index": 208}
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+{"source_uid": "36cc4106081c7890", "num_frames": 330, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 234, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 279, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 234, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 279, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_20_31_25_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 274, "v40_language_source": "previous_published_lerobot", "episode_index": 274}
+{"source_uid": "8c90d703ef1cf2ce", "num_frames": 371, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 261, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 308, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 261, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 308, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_20_31_48_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 275, "v40_language_source": "previous_published_lerobot", "episode_index": 275}
+{"source_uid": "825b3759cfd21c0b", "num_frames": 381, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 272, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 320, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 272, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 320, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_20_32_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 276, "v40_language_source": "previous_published_lerobot", "episode_index": 276}
diff --git a/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotations.jsonl b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cb4cc6c43c7f5d4c5ebfb9311211cc9518a0a11d
--- /dev/null
+++ b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,277 @@
+{"source_uid": "69b996832867b82d", "num_frames": 1272, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 605, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 606, "end_step": 1159, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 1160, "end_step": 1218, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 605, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 606, "end_step": 1159, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 1160, "end_step": 1218, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_14_26_35_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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+{"source_uid": "338ff897adc0feba", "num_frames": 389, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 252, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 315, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 252, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 315, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_19_31_09_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 153, "v40_language_source": "previous_published_lerobot", "episode_index": 153}
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+{"source_uid": "74beb1c9edc85791", "num_frames": 397, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 285, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 330, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 285, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 330, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_20_30_17_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 271, "v40_language_source": "previous_published_lerobot", "episode_index": 271}
+{"source_uid": "d205e300b6e8ad63", "num_frames": 320, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 152, "end_step": 222, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 262, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 152, "end_step": 222, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 262, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_20_30_40_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 272, "v40_language_source": "previous_published_lerobot", "episode_index": 272}
+{"source_uid": "ba1e226599e1a627", "num_frames": 399, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 336, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 336, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_20_31_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 273, "v40_language_source": "previous_published_lerobot", "episode_index": 273}
+{"source_uid": "36cc4106081c7890", "num_frames": 330, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 234, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 279, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 234, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 279, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_20_31_25_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 274, "v40_language_source": "previous_published_lerobot", "episode_index": 274}
+{"source_uid": "8c90d703ef1cf2ce", "num_frames": 371, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 261, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 308, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 261, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 308, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_20_31_48_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 275, "v40_language_source": "previous_published_lerobot", "episode_index": 275}
+{"source_uid": "825b3759cfd21c0b", "num_frames": 381, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 272, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 320, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 272, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 320, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_20_32_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 276, "v40_language_source": "previous_published_lerobot", "episode_index": 276}
diff --git a/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/episodes.jsonl b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5e24b281cd32a1bffd6188463273d4793fdc174d
--- /dev/null
+++ b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,277 @@
+{"episode_index": 0, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 1272}
+{"episode_index": 1, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 737}
+{"episode_index": 2, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 669}
+{"episode_index": 3, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 722}
+{"episode_index": 4, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 640}
+{"episode_index": 5, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 815}
+{"episode_index": 6, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 802}
+{"episode_index": 7, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 717}
+{"episode_index": 8, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 735}
+{"episode_index": 9, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 757}
+{"episode_index": 10, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 560}
+{"episode_index": 11, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 651}
+{"episode_index": 12, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 647}
+{"episode_index": 13, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 668}
+{"episode_index": 14, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 576}
+{"episode_index": 15, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 631}
+{"episode_index": 16, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 713}
+{"episode_index": 17, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 519}
+{"episode_index": 18, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 546}
+{"episode_index": 19, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 597}
+{"episode_index": 20, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 654}
+{"episode_index": 21, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 520}
+{"episode_index": 22, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 653}
+{"episode_index": 23, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 463}
+{"episode_index": 24, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 548}
+{"episode_index": 25, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 500}
+{"episode_index": 26, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 836}
+{"episode_index": 27, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 473}
+{"episode_index": 28, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 456}
+{"episode_index": 29, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 727}
+{"episode_index": 30, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 816}
+{"episode_index": 31, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 1134}
+{"episode_index": 32, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 618}
+{"episode_index": 33, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 482}
+{"episode_index": 34, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 926}
+{"episode_index": 35, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 434}
+{"episode_index": 36, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 505}
+{"episode_index": 37, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 600}
+{"episode_index": 38, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 507}
+{"episode_index": 39, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 535}
+{"episode_index": 40, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 506}
+{"episode_index": 41, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 461}
+{"episode_index": 42, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 528}
+{"episode_index": 43, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 449}
+{"episode_index": 44, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 392}
+{"episode_index": 45, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 500}
+{"episode_index": 46, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 443}
+{"episode_index": 47, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 421}
+{"episode_index": 48, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 448}
+{"episode_index": 49, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 469}
+{"episode_index": 50, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 466}
+{"episode_index": 51, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 471}
+{"episode_index": 52, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 435}
+{"episode_index": 53, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 645}
+{"episode_index": 54, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 406}
+{"episode_index": 55, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 428}
+{"episode_index": 56, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 435}
+{"episode_index": 57, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 416}
+{"episode_index": 58, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 528}
+{"episode_index": 59, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 405}
+{"episode_index": 60, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 450}
+{"episode_index": 61, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 448}
+{"episode_index": 62, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 448}
+{"episode_index": 63, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 372}
+{"episode_index": 64, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 419}
+{"episode_index": 65, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 440}
+{"episode_index": 66, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 426}
+{"episode_index": 67, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 387}
+{"episode_index": 68, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 425}
+{"episode_index": 69, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 428}
+{"episode_index": 70, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 418}
+{"episode_index": 71, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 430}
+{"episode_index": 72, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 430}
+{"episode_index": 73, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 424}
+{"episode_index": 74, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 394}
+{"episode_index": 75, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 410}
+{"episode_index": 76, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 390}
+{"episode_index": 77, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 358}
+{"episode_index": 78, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 364}
+{"episode_index": 79, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 414}
+{"episode_index": 80, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 485}
+{"episode_index": 81, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 410}
+{"episode_index": 82, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 469}
+{"episode_index": 83, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 381}
+{"episode_index": 84, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 1012}
+{"episode_index": 85, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 464}
+{"episode_index": 86, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 396}
+{"episode_index": 87, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 409}
+{"episode_index": 88, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 407}
+{"episode_index": 89, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 407}
+{"episode_index": 90, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 442}
+{"episode_index": 91, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 381}
+{"episode_index": 92, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 380}
+{"episode_index": 93, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 314}
+{"episode_index": 94, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 401}
+{"episode_index": 95, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 422}
+{"episode_index": 96, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 383}
+{"episode_index": 97, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 358}
+{"episode_index": 98, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 393}
+{"episode_index": 99, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 567}
+{"episode_index": 100, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 538}
+{"episode_index": 101, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 584}
+{"episode_index": 102, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 517}
+{"episode_index": 103, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 476}
+{"episode_index": 104, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 554}
+{"episode_index": 105, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 511}
+{"episode_index": 106, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 490}
+{"episode_index": 107, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 536}
+{"episode_index": 108, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 458}
+{"episode_index": 109, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 456}
+{"episode_index": 110, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 474}
+{"episode_index": 111, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 424}
+{"episode_index": 112, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 452}
+{"episode_index": 113, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 517}
+{"episode_index": 114, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 559}
+{"episode_index": 115, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 497}
+{"episode_index": 116, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 480}
+{"episode_index": 117, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 455}
+{"episode_index": 118, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 479}
+{"episode_index": 119, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 525}
+{"episode_index": 120, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 458}
+{"episode_index": 121, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 480}
+{"episode_index": 122, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 514}
+{"episode_index": 123, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 445}
+{"episode_index": 124, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 681}
+{"episode_index": 125, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 445}
+{"episode_index": 126, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 458}
+{"episode_index": 127, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 498}
+{"episode_index": 128, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 507}
+{"episode_index": 129, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 486}
+{"episode_index": 130, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 449}
+{"episode_index": 131, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 477}
+{"episode_index": 132, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 439}
+{"episode_index": 133, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 446}
+{"episode_index": 134, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 406}
+{"episode_index": 135, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 470}
+{"episode_index": 136, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 503}
+{"episode_index": 137, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 440}
+{"episode_index": 138, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 468}
+{"episode_index": 139, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 481}
+{"episode_index": 140, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 450}
+{"episode_index": 141, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 466}
+{"episode_index": 142, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 412}
+{"episode_index": 143, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 445}
+{"episode_index": 144, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 416}
+{"episode_index": 145, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 452}
+{"episode_index": 146, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 567}
+{"episode_index": 147, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 436}
+{"episode_index": 148, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 436}
+{"episode_index": 149, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 407}
+{"episode_index": 150, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 423}
+{"episode_index": 151, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 429}
+{"episode_index": 152, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 474}
+{"episode_index": 153, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 389}
+{"episode_index": 154, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 408}
+{"episode_index": 155, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 549}
+{"episode_index": 156, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 446}
+{"episode_index": 157, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 470}
+{"episode_index": 158, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 416}
+{"episode_index": 159, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 430}
+{"episode_index": 160, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 425}
+{"episode_index": 161, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 469}
+{"episode_index": 162, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 514}
+{"episode_index": 163, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 365}
+{"episode_index": 164, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 403}
+{"episode_index": 165, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 415}
+{"episode_index": 166, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 429}
+{"episode_index": 167, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 438}
+{"episode_index": 168, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 430}
+{"episode_index": 169, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 436}
+{"episode_index": 170, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 429}
+{"episode_index": 171, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 435}
+{"episode_index": 172, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 431}
+{"episode_index": 173, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 424}
+{"episode_index": 174, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 425}
+{"episode_index": 175, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 411}
+{"episode_index": 176, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 434}
+{"episode_index": 177, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 403}
+{"episode_index": 178, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 475}
+{"episode_index": 179, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 379}
+{"episode_index": 180, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 429}
+{"episode_index": 181, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 586}
+{"episode_index": 182, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 435}
+{"episode_index": 183, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 446}
+{"episode_index": 184, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 442}
+{"episode_index": 185, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 417}
+{"episode_index": 186, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 414}
+{"episode_index": 187, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 463}
+{"episode_index": 188, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 650}
+{"episode_index": 189, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 471}
+{"episode_index": 190, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 467}
+{"episode_index": 191, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 454}
+{"episode_index": 192, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 435}
+{"episode_index": 193, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 545}
+{"episode_index": 194, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 422}
+{"episode_index": 195, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 430}
+{"episode_index": 196, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 406}
+{"episode_index": 197, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 472}
+{"episode_index": 198, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 422}
+{"episode_index": 199, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 469}
+{"episode_index": 200, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 393}
+{"episode_index": 201, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 429}
+{"episode_index": 202, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 412}
+{"episode_index": 203, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 450}
+{"episode_index": 204, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 431}
+{"episode_index": 205, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 519}
+{"episode_index": 206, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 462}
+{"episode_index": 207, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 491}
+{"episode_index": 208, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 399}
+{"episode_index": 209, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 413}
+{"episode_index": 210, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 432}
+{"episode_index": 211, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 443}
+{"episode_index": 212, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 414}
+{"episode_index": 213, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 396}
+{"episode_index": 214, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 435}
+{"episode_index": 215, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 397}
+{"episode_index": 216, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 364}
+{"episode_index": 217, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 433}
+{"episode_index": 218, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 383}
+{"episode_index": 219, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 419}
+{"episode_index": 220, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 406}
+{"episode_index": 221, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 476}
+{"episode_index": 222, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 460}
+{"episode_index": 223, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 413}
+{"episode_index": 224, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 421}
+{"episode_index": 225, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 396}
+{"episode_index": 226, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 455}
+{"episode_index": 227, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 470}
+{"episode_index": 228, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 446}
+{"episode_index": 229, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 365}
+{"episode_index": 230, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 380}
+{"episode_index": 231, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 418}
+{"episode_index": 232, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 379}
+{"episode_index": 233, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 423}
+{"episode_index": 234, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 429}
+{"episode_index": 235, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 404}
+{"episode_index": 236, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 397}
+{"episode_index": 237, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 382}
+{"episode_index": 238, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 403}
+{"episode_index": 239, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 433}
+{"episode_index": 240, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 352}
+{"episode_index": 241, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 365}
+{"episode_index": 242, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 363}
+{"episode_index": 243, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 401}
+{"episode_index": 244, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 392}
+{"episode_index": 245, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 385}
+{"episode_index": 246, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 385}
+{"episode_index": 247, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 382}
+{"episode_index": 248, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 394}
+{"episode_index": 249, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 432}
+{"episode_index": 250, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 421}
+{"episode_index": 251, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 384}
+{"episode_index": 252, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 393}
+{"episode_index": 253, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 362}
+{"episode_index": 254, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 371}
+{"episode_index": 255, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 416}
+{"episode_index": 256, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 423}
+{"episode_index": 257, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 411}
+{"episode_index": 258, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 338}
+{"episode_index": 259, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 375}
+{"episode_index": 260, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 442}
+{"episode_index": 261, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 419}
+{"episode_index": 262, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 367}
+{"episode_index": 263, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 369}
+{"episode_index": 264, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 370}
+{"episode_index": 265, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 388}
+{"episode_index": 266, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 369}
+{"episode_index": 267, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 335}
+{"episode_index": 268, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 377}
+{"episode_index": 269, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 452}
+{"episode_index": 270, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 369}
+{"episode_index": 271, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 397}
+{"episode_index": 272, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 320}
+{"episode_index": 273, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 399}
+{"episode_index": 274, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 330}
+{"episode_index": 275, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 371}
+{"episode_index": 276, "tasks": ["Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."], "length": 381}
diff --git a/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/episodes_stats.jsonl b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d9c6f371013f6c0f19632fa9e1d5f0e1c8cbae05
--- /dev/null
+++ b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,277 @@
+{"episode_index": 0, "stats": {"observation.state": {"min": [1.050504207611084, -0.8255515694618225, -0.26272836327552795, 0.9982727766036987, -0.8811159133911133, -0.7687897086143494, 0.11195195466279984, 0.005448676645755768, -0.2751374840736389, -0.29226547479629517, -0.19977843761444092, 0.0027652359567582607, -0.1769789755344391, -0.0529366098344326, 0.0033928120974451303, 0.0008708825334906578, -0.1715499311685562, -0.05600915476679802, 0.0033538101706653833, 0.0008207757491618395, -0.13657131791114807, -0.07347704470157623, 0.002825511386618018, 0.0008287574164569378, 0.005253269802778959, -0.1393526941537857, -0.0358840674161911, 0.0030577501747757196, 0.0008221060270443559, 1.0509490966796875, -0.8874601125717163, -0.22525165975093842, 0.8649120330810547, -1.82586669921875, -0.7675558924674988, -0.29168668389320374, 0.005388692021369934, -0.31502100825309753, 0.00360511289909482, -0.12351668626070023, 0.0034413873217999935, 0.005258555058389902, -0.046577803790569305, 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diff --git a/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/info.json b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8aa978b537c25e58c43335eb5f415ca1e37a6623
--- /dev/null
+++ b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/modality.json b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/subtasks.jsonl b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3beaa292a20e6615eb4e1678cb8e0852577dd82b
--- /dev/null
+++ b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,4 @@
+{"subtask_index": 0, "subtask": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush"}
+{"subtask_index": 2, "subtask": "Remove the brush and place the cup and brush back on the table. | Skill: place"}
+{"subtask_index": 3, "subtask": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."}
diff --git a/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/tasks.jsonl b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..69a4e9b8525baf6d9b99172b3a89b0ab6a0ea4aa
--- /dev/null
+++ b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table."}
diff --git a/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/v40_validation.json b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba5f29f79112e27deed91d9c2951c55ea077b9e6
--- /dev/null
+++ b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 277,
+  "frames": 130139,
+  "video_frames": {
+    "observation.images.head_left": 130139,
+    "observation.images.wrist_left": 130139,
+    "observation.images.wrist_right": 130139,
+    "observation.images.head_right": 130139,
+    "observation.images.tactile_deform": 130139,
+    "observation.images.tactile_raw": 130139
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 277
+}
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