diff --git a/data_mapping.json b/data_mapping.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b40f6ea1535ee752ded00e6980f5474bd18f544
--- /dev/null
+++ b/data_mapping.json
@@ -0,0 +1,253 @@
+{
+  "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it": {
+    "start_idx": 0,
+    "end_idx": 49,
+    "count": 50
+  },
+  "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it": {
+    "start_idx": 50,
+    "end_idx": 99,
+    "count": 50
+  },
+  "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it": {
+    "start_idx": 100,
+    "end_idx": 149,
+    "count": 50
+  },
+  "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove": {
+    "start_idx": 150,
+    "end_idx": 199,
+    "count": 50
+  },
+  "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket": {
+    "start_idx": 200,
+    "end_idx": 249,
+    "count": 50
+  },
+  "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket": {
+    "start_idx": 250,
+    "end_idx": 299,
+    "count": 50
+  },
+  "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket": {
+    "start_idx": 300,
+    "end_idx": 349,
+    "count": 50
+  },
+  "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate": {
+    "start_idx": 350,
+    "end_idx": 399,
+    "count": 50
+  },
+  "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate": {
+    "start_idx": 400,
+    "end_idx": 449,
+    "count": 50
+  },
+  "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy": {
+    "start_idx": 450,
+    "end_idx": 499,
+    "count": 50
+  },
+  "libero_act_goal": {
+    "start_idx": 500,
+    "end_idx": 999,
+    "count": 500,
+    "tasks": [
+      {
+        "task_idx": 0,
+        "new_idx_range": "500-549",
+        "original_idx_range": "0-49",
+        "prompt": "put the bowl on the stove."
+      },
+      {
+        "task_idx": 1,
+        "new_idx_range": "550-599",
+        "original_idx_range": "50-99",
+        "prompt": "put the cream cheese in the bowl."
+      },
+      {
+        "task_idx": 2,
+        "new_idx_range": "600-649",
+        "original_idx_range": "100-149",
+        "prompt": "turn on the stove."
+      },
+      {
+        "task_idx": 3,
+        "new_idx_range": "650-699",
+        "original_idx_range": "150-199",
+        "prompt": "put the wine bottle on top of the cabinet."
+      },
+      {
+        "task_idx": 4,
+        "new_idx_range": "700-749",
+        "original_idx_range": "200-249",
+        "prompt": "put the wine bottle on the rack."
+      },
+      {
+        "task_idx": 5,
+        "new_idx_range": "750-799",
+        "original_idx_range": "250-299",
+        "prompt": "push the plate to the front of the stove."
+      },
+      {
+        "task_idx": 6,
+        "new_idx_range": "800-849",
+        "original_idx_range": "300-349",
+        "prompt": "put the bowl on top of the cabinet."
+      },
+      {
+        "task_idx": 7,
+        "new_idx_range": "850-899",
+        "original_idx_range": "350-399",
+        "prompt": "put the bowl on the plate."
+      },
+      {
+        "task_idx": 8,
+        "new_idx_range": "900-949",
+        "original_idx_range": "400-449",
+        "prompt": "open the middle drawer of the cabinet."
+      },
+      {
+        "task_idx": 9,
+        "new_idx_range": "950-999",
+        "original_idx_range": "450-499",
+        "prompt": "open the top drawer and put the bowl inside."
+      }
+    ]
+  },
+  "libero_act_object": {
+    "start_idx": 1000,
+    "end_idx": 1499,
+    "count": 500,
+    "tasks": [
+      {
+        "task_idx": 0,
+        "new_idx_range": "1000-1049",
+        "original_idx_range": "0-49",
+        "prompt": "pick up the milk and place it in the basket."
+      },
+      {
+        "task_idx": 1,
+        "new_idx_range": "1050-1099",
+        "original_idx_range": "50-99",
+        "prompt": "pick up the salad dressing and place it in the basket."
+      },
+      {
+        "task_idx": 2,
+        "new_idx_range": "1100-1149",
+        "original_idx_range": "100-149",
+        "prompt": "pick up the chocolate pudding and place it in the basket."
+      },
+      {
+        "task_idx": 3,
+        "new_idx_range": "1150-1199",
+        "original_idx_range": "150-199",
+        "prompt": "pick up the ketchup and place it in the basket."
+      },
+      {
+        "task_idx": 4,
+        "new_idx_range": "1200-1249",
+        "original_idx_range": "200-249",
+        "prompt": "pick up the tomato sauce and place it in the basket."
+      },
+      {
+        "task_idx": 5,
+        "new_idx_range": "1250-1299",
+        "original_idx_range": "250-299",
+        "prompt": "pick up the butter and place it in the basket."
+      },
+      {
+        "task_idx": 6,
+        "new_idx_range": "1300-1349",
+        "original_idx_range": "300-349",
+        "prompt": "pick up the cream cheese and place it in the basket."
+      },
+      {
+        "task_idx": 7,
+        "new_idx_range": "1350-1399",
+        "original_idx_range": "350-399",
+        "prompt": "pick up the bbq sauce and place it in the basket."
+      },
+      {
+        "task_idx": 8,
+        "new_idx_range": "1400-1449",
+        "original_idx_range": "400-449",
+        "prompt": "pick up the alphabet soup and place it in the basket."
+      },
+      {
+        "task_idx": 9,
+        "new_idx_range": "1450-1499",
+        "original_idx_range": "450-499",
+        "prompt": "pick up the orange juice and place it in the basket."
+      }
+    ]
+  },
+  "libero_act_spatial": {
+    "start_idx": 1500,
+    "end_idx": 1999,
+    "count": 500,
+    "tasks": [
+      {
+        "task_idx": 0,
+        "new_idx_range": "1500-1549",
+        "original_idx_range": "0-49",
+        "prompt": "pick up the black bowl next to the plate and place it on the plate."
+      },
+      {
+        "task_idx": 1,
+        "new_idx_range": "1550-1599",
+        "original_idx_range": "50-99",
+        "prompt": "pick up the black bowl from table center and place it on the plate."
+      },
+      {
+        "task_idx": 2,
+        "new_idx_range": "1600-1649",
+        "original_idx_range": "100-149",
+        "prompt": "pick up the black bowl on the ramekin and place it on the plate."
+      },
+      {
+        "task_idx": 3,
+        "new_idx_range": "1650-1699",
+        "original_idx_range": "150-199",
+        "prompt": "pick up the black bowl on the stove and place it on the plate."
+      },
+      {
+        "task_idx": 4,
+        "new_idx_range": "1700-1749",
+        "original_idx_range": "200-249",
+        "prompt": "pick up the black bowl on the wooden cabinet and place it on the plate."
+      },
+      {
+        "task_idx": 5,
+        "new_idx_range": "1750-1799",
+        "original_idx_range": "250-299",
+        "prompt": "pick up the black bowl next to the cookie box and place it on the plate."
+      },
+      {
+        "task_idx": 6,
+        "new_idx_range": "1800-1849",
+        "original_idx_range": "300-349",
+        "prompt": "pick up the black bowl on the cookie box and place it on the plate."
+      },
+      {
+        "task_idx": 7,
+        "new_idx_range": "1850-1899",
+        "original_idx_range": "350-399",
+        "prompt": "pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate."
+      },
+      {
+        "task_idx": 8,
+        "new_idx_range": "1900-1949",
+        "original_idx_range": "400-449",
+        "prompt": "pick up the black bowl next to the ramekin and place it on the plate."
+      },
+      {
+        "task_idx": 9,
+        "new_idx_range": "1950-1999",
+        "original_idx_range": "450-499",
+        "prompt": "pick up the black bowl between the plate and the ramekin and place it on the plate."
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/metas/demo_1010.txt b/metas/demo_1010.txt
new file mode 100644
index 0000000000000000000000000000000000000000..766414ff038e006f12438f583df322b8b4b973eb
--- /dev/null
+++ b/metas/demo_1010.txt
@@ -0,0 +1 @@
+pick up the milk and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_1014.txt b/metas/demo_1014.txt
new file mode 100644
index 0000000000000000000000000000000000000000..766414ff038e006f12438f583df322b8b4b973eb
--- /dev/null
+++ b/metas/demo_1014.txt
@@ -0,0 +1 @@
+pick up the milk and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_1024.txt b/metas/demo_1024.txt
new file mode 100644
index 0000000000000000000000000000000000000000..766414ff038e006f12438f583df322b8b4b973eb
--- /dev/null
+++ b/metas/demo_1024.txt
@@ -0,0 +1 @@
+pick up the milk and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_1025.txt b/metas/demo_1025.txt
new file mode 100644
index 0000000000000000000000000000000000000000..766414ff038e006f12438f583df322b8b4b973eb
--- /dev/null
+++ b/metas/demo_1025.txt
@@ -0,0 +1 @@
+pick up the milk and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_1045.txt b/metas/demo_1045.txt
new file mode 100644
index 0000000000000000000000000000000000000000..766414ff038e006f12438f583df322b8b4b973eb
--- /dev/null
+++ b/metas/demo_1045.txt
@@ -0,0 +1 @@
+pick up the milk and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_1049.txt b/metas/demo_1049.txt
new file mode 100644
index 0000000000000000000000000000000000000000..766414ff038e006f12438f583df322b8b4b973eb
--- /dev/null
+++ b/metas/demo_1049.txt
@@ -0,0 +1 @@
+pick up the milk and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_1102.txt b/metas/demo_1102.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f61215b5c7a31bae14a784eb2643c2eba3865035
--- /dev/null
+++ b/metas/demo_1102.txt
@@ -0,0 +1 @@
+pick up the chocolate pudding and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_1112.txt b/metas/demo_1112.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f61215b5c7a31bae14a784eb2643c2eba3865035
--- /dev/null
+++ b/metas/demo_1112.txt
@@ -0,0 +1 @@
+pick up the chocolate pudding and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_1145.txt b/metas/demo_1145.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f61215b5c7a31bae14a784eb2643c2eba3865035
--- /dev/null
+++ b/metas/demo_1145.txt
@@ -0,0 +1 @@
+pick up the chocolate pudding and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_1152.txt b/metas/demo_1152.txt
new file mode 100644
index 0000000000000000000000000000000000000000..762b0dc81d30d56bb41ae16eabb5a712a028a9d7
--- /dev/null
+++ b/metas/demo_1152.txt
@@ -0,0 +1 @@
+pick up the ketchup and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_1170.txt b/metas/demo_1170.txt
new file mode 100644
index 0000000000000000000000000000000000000000..762b0dc81d30d56bb41ae16eabb5a712a028a9d7
--- /dev/null
+++ b/metas/demo_1170.txt
@@ -0,0 +1 @@
+pick up the ketchup and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_1197.txt b/metas/demo_1197.txt
new file mode 100644
index 0000000000000000000000000000000000000000..762b0dc81d30d56bb41ae16eabb5a712a028a9d7
--- /dev/null
+++ b/metas/demo_1197.txt
@@ -0,0 +1 @@
+pick up the ketchup and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_1257.txt b/metas/demo_1257.txt
new file mode 100644
index 0000000000000000000000000000000000000000..74fd31e330dbf4ba86327b113cc94b1fc3fdc39f
--- /dev/null
+++ b/metas/demo_1257.txt
@@ -0,0 +1 @@
+pick up the butter and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_131.txt b/metas/demo_131.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8657442aea6f2e88a1201a189d4f46a6d9b0c592
--- /dev/null
+++ b/metas/demo_131.txt
@@ -0,0 +1 @@
+put the yellow and white mug in the microwave and close it.
\ No newline at end of file
diff --git a/metas/demo_1314.txt b/metas/demo_1314.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b76bc5ee653e871979d79df0b8b6196ed07cd178
--- /dev/null
+++ b/metas/demo_1314.txt
@@ -0,0 +1 @@
+pick up the cream cheese and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_132.txt b/metas/demo_132.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8657442aea6f2e88a1201a189d4f46a6d9b0c592
--- /dev/null
+++ b/metas/demo_132.txt
@@ -0,0 +1 @@
+put the yellow and white mug in the microwave and close it.
\ No newline at end of file
diff --git a/metas/demo_1357.txt b/metas/demo_1357.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c8098551e424e6e8cc0813e0bebbc0024475f0cd
--- /dev/null
+++ b/metas/demo_1357.txt
@@ -0,0 +1 @@
+pick up the bbq sauce and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_1362.txt b/metas/demo_1362.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c8098551e424e6e8cc0813e0bebbc0024475f0cd
--- /dev/null
+++ b/metas/demo_1362.txt
@@ -0,0 +1 @@
+pick up the bbq sauce and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_1435.txt b/metas/demo_1435.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1e228667c3a5636103cf216bca208f6d13f007f1
--- /dev/null
+++ b/metas/demo_1435.txt
@@ -0,0 +1 @@
+pick up the alphabet soup and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_1466.txt b/metas/demo_1466.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ebc3701820c271e05a5574191428c5a3b597f893
--- /dev/null
+++ b/metas/demo_1466.txt
@@ -0,0 +1 @@
+pick up the orange juice and place it in the basket.
\ No newline at end of file
diff --git a/metas/demo_149.txt b/metas/demo_149.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8657442aea6f2e88a1201a189d4f46a6d9b0c592
--- /dev/null
+++ b/metas/demo_149.txt
@@ -0,0 +1 @@
+put the yellow and white mug in the microwave and close it.
\ No newline at end of file
diff --git a/metas/demo_1551.txt b/metas/demo_1551.txt
new file mode 100644
index 0000000000000000000000000000000000000000..00fcb0c5051732b48f71192366046b041e716a80
--- /dev/null
+++ b/metas/demo_1551.txt
@@ -0,0 +1 @@
+pick up the black bowl from table center and place it on the plate.
\ No newline at end of file
diff --git a/metas/demo_158.txt b/metas/demo_158.txt
new file mode 100644
index 0000000000000000000000000000000000000000..52f05f5bd0e73693bdd0a09dbeee1ec59163ae9b
--- /dev/null
+++ b/metas/demo_158.txt
@@ -0,0 +1 @@
+put both moka pots on the stove.
\ No newline at end of file
diff --git a/metas/demo_1617.txt b/metas/demo_1617.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6d7afc1b62c4800f44ebed31cb1bb87570391997
--- /dev/null
+++ b/metas/demo_1617.txt
@@ -0,0 +1 @@
+pick up the black bowl on the ramekin and place it on the plate.
\ No newline at end of file
diff --git a/metas/demo_1631.txt b/metas/demo_1631.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6d7afc1b62c4800f44ebed31cb1bb87570391997
--- /dev/null
+++ b/metas/demo_1631.txt
@@ -0,0 +1 @@
+pick up the black bowl on the ramekin and place it on the plate.
\ No newline at end of file
diff --git a/metas/demo_1643.txt b/metas/demo_1643.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6d7afc1b62c4800f44ebed31cb1bb87570391997
--- /dev/null
+++ b/metas/demo_1643.txt
@@ -0,0 +1 @@
+pick up the black bowl on the ramekin and place it on the plate.
\ No newline at end of file
diff --git a/metas/demo_1660.txt b/metas/demo_1660.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d8ea4fff64acb736fc98b2fb9377052666185880
--- /dev/null
+++ b/metas/demo_1660.txt
@@ -0,0 +1 @@
+pick up the black bowl on the stove and place it on the plate.
\ No newline at end of file
diff --git a/metas/demo_1687.txt b/metas/demo_1687.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d8ea4fff64acb736fc98b2fb9377052666185880
--- /dev/null
+++ b/metas/demo_1687.txt
@@ -0,0 +1 @@
+pick up the black bowl on the stove and place it on the plate.
\ No newline at end of file
diff --git a/metas/demo_171.txt b/metas/demo_171.txt
new file mode 100644
index 0000000000000000000000000000000000000000..52f05f5bd0e73693bdd0a09dbeee1ec59163ae9b
--- /dev/null
+++ b/metas/demo_171.txt
@@ -0,0 +1 @@
+put both moka pots on the stove.
\ No newline at end of file
diff --git a/metas/demo_1730.txt b/metas/demo_1730.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01b00082fa7d0b2933222d4a6b397043ad97f4ee
--- /dev/null
+++ b/metas/demo_1730.txt
@@ -0,0 +1 @@
+pick up the black bowl on the wooden cabinet and place it on the plate.
\ No newline at end of file
diff --git a/metas/demo_175.txt b/metas/demo_175.txt
new file mode 100644
index 0000000000000000000000000000000000000000..52f05f5bd0e73693bdd0a09dbeee1ec59163ae9b
--- /dev/null
+++ b/metas/demo_175.txt
@@ -0,0 +1 @@
+put both moka pots on the stove.
\ No newline at end of file
diff --git a/metas/demo_1768.txt b/metas/demo_1768.txt
new file mode 100644
index 0000000000000000000000000000000000000000..139436709e138ece9075b14e0d31a6527e14d036
--- /dev/null
+++ b/metas/demo_1768.txt
@@ -0,0 +1 @@
+pick up the black bowl next to the cookie box and place it on the plate.
\ No newline at end of file
diff --git a/metas/demo_1832.txt b/metas/demo_1832.txt
new file mode 100644
index 0000000000000000000000000000000000000000..307c5b5c151a12ffbe61eadc20b6b8551322ee8d
--- /dev/null
+++ b/metas/demo_1832.txt
@@ -0,0 +1 @@
+pick up the black bowl on the cookie box and place it on the plate.
\ No newline at end of file
diff --git a/metas/demo_1835.txt b/metas/demo_1835.txt
new file mode 100644
index 0000000000000000000000000000000000000000..307c5b5c151a12ffbe61eadc20b6b8551322ee8d
--- /dev/null
+++ b/metas/demo_1835.txt
@@ -0,0 +1 @@
+pick up the black bowl on the cookie box and place it on the plate.
\ No newline at end of file
diff --git a/metas/demo_1891.txt b/metas/demo_1891.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c66c0006b0b371c9b93625cda6608d975ad5afc3
--- /dev/null
+++ b/metas/demo_1891.txt
@@ -0,0 +1 @@
+pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate.
\ No newline at end of file
diff --git a/metas/demo_1893.txt b/metas/demo_1893.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c66c0006b0b371c9b93625cda6608d975ad5afc3
--- /dev/null
+++ b/metas/demo_1893.txt
@@ -0,0 +1 @@
+pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate.
\ No newline at end of file
diff --git a/metas/demo_1898.txt b/metas/demo_1898.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c66c0006b0b371c9b93625cda6608d975ad5afc3
--- /dev/null
+++ b/metas/demo_1898.txt
@@ -0,0 +1 @@
+pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate.
\ No newline at end of file
diff --git a/metas/demo_1945.txt b/metas/demo_1945.txt
new file mode 100644
index 0000000000000000000000000000000000000000..81d64cea541f8357d2c1ce1fc3de2204179d65d9
--- /dev/null
+++ b/metas/demo_1945.txt
@@ -0,0 +1 @@
+pick up the black bowl next to the ramekin and place it on the plate.
\ No newline at end of file
diff --git a/metas/demo_1960.txt b/metas/demo_1960.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bdd7ff280a881e3069e127d9386087e8c7ae4273
--- /dev/null
+++ b/metas/demo_1960.txt
@@ -0,0 +1 @@
+pick up the black bowl between the plate and the ramekin and place it on the plate.
\ No newline at end of file
diff --git a/metas/demo_1989.txt b/metas/demo_1989.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bdd7ff280a881e3069e127d9386087e8c7ae4273
--- /dev/null
+++ b/metas/demo_1989.txt
@@ -0,0 +1 @@
+pick up the black bowl between the plate and the ramekin and place it on the plate.
\ No newline at end of file
diff --git a/metas/demo_200.txt b/metas/demo_200.txt
new file mode 100644
index 0000000000000000000000000000000000000000..89b1ae2134f2f77bac4ca4e444f7b6c1ffb2d652
--- /dev/null
+++ b/metas/demo_200.txt
@@ -0,0 +1 @@
+put both the alphabet soup and the cream cheese box in the basket.
\ No newline at end of file
diff --git a/metas/demo_222.txt b/metas/demo_222.txt
new file mode 100644
index 0000000000000000000000000000000000000000..89b1ae2134f2f77bac4ca4e444f7b6c1ffb2d652
--- /dev/null
+++ b/metas/demo_222.txt
@@ -0,0 +1 @@
+put both the alphabet soup and the cream cheese box in the basket.
\ No newline at end of file
diff --git a/metas/demo_223.txt b/metas/demo_223.txt
new file mode 100644
index 0000000000000000000000000000000000000000..89b1ae2134f2f77bac4ca4e444f7b6c1ffb2d652
--- /dev/null
+++ b/metas/demo_223.txt
@@ -0,0 +1 @@
+put both the alphabet soup and the cream cheese box in the basket.
\ No newline at end of file
diff --git a/metas/demo_228.txt b/metas/demo_228.txt
new file mode 100644
index 0000000000000000000000000000000000000000..89b1ae2134f2f77bac4ca4e444f7b6c1ffb2d652
--- /dev/null
+++ b/metas/demo_228.txt
@@ -0,0 +1 @@
+put both the alphabet soup and the cream cheese box in the basket.
\ No newline at end of file
diff --git a/metas/demo_261.txt b/metas/demo_261.txt
new file mode 100644
index 0000000000000000000000000000000000000000..36715896e8474725bf4525369db67b20f2d84528
--- /dev/null
+++ b/metas/demo_261.txt
@@ -0,0 +1 @@
+put both the alphabet soup and the tomato sauce in the basket.
\ No newline at end of file
diff --git a/metas/demo_272.txt b/metas/demo_272.txt
new file mode 100644
index 0000000000000000000000000000000000000000..36715896e8474725bf4525369db67b20f2d84528
--- /dev/null
+++ b/metas/demo_272.txt
@@ -0,0 +1 @@
+put both the alphabet soup and the tomato sauce in the basket.
\ No newline at end of file
diff --git a/metas/demo_277.txt b/metas/demo_277.txt
new file mode 100644
index 0000000000000000000000000000000000000000..36715896e8474725bf4525369db67b20f2d84528
--- /dev/null
+++ b/metas/demo_277.txt
@@ -0,0 +1 @@
+put both the alphabet soup and the tomato sauce in the basket.
\ No newline at end of file
diff --git a/metas/demo_331.txt b/metas/demo_331.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1e9bb981af5ec861260e56af80e51f1728c25754
--- /dev/null
+++ b/metas/demo_331.txt
@@ -0,0 +1 @@
+put both the cream cheese box and the butter in the basket.
\ No newline at end of file
diff --git a/metas/demo_338.txt b/metas/demo_338.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1e9bb981af5ec861260e56af80e51f1728c25754
--- /dev/null
+++ b/metas/demo_338.txt
@@ -0,0 +1 @@
+put both the cream cheese box and the butter in the basket.
\ No newline at end of file
diff --git a/metas/demo_354.txt b/metas/demo_354.txt
new file mode 100644
index 0000000000000000000000000000000000000000..06af97e7594274761936fd2c263fcdf162d74f6e
--- /dev/null
+++ b/metas/demo_354.txt
@@ -0,0 +1 @@
+put the white mug on the left plate and put the yellow and white mug on the right plate.
\ No newline at end of file
diff --git a/metas/demo_412.txt b/metas/demo_412.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e74978634f977af7b48fb4499d430b354dc81e75
--- /dev/null
+++ b/metas/demo_412.txt
@@ -0,0 +1 @@
+put the white mug on the plate and put the chocolate pudding to the right of the plate.
\ No newline at end of file
diff --git a/metas/demo_504.txt b/metas/demo_504.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f225441b9da7e408359a908376664c47597f638
--- /dev/null
+++ b/metas/demo_504.txt
@@ -0,0 +1 @@
+put the bowl on the stove.
\ No newline at end of file
diff --git a/metas/demo_533.txt b/metas/demo_533.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f225441b9da7e408359a908376664c47597f638
--- /dev/null
+++ b/metas/demo_533.txt
@@ -0,0 +1 @@
+put the bowl on the stove.
\ No newline at end of file
diff --git a/metas/demo_536.txt b/metas/demo_536.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f225441b9da7e408359a908376664c47597f638
--- /dev/null
+++ b/metas/demo_536.txt
@@ -0,0 +1 @@
+put the bowl on the stove.
\ No newline at end of file
diff --git a/metas/demo_55.txt b/metas/demo_55.txt
new file mode 100644
index 0000000000000000000000000000000000000000..173abf18590226a5ffa8ddb37142309434b48f68
--- /dev/null
+++ b/metas/demo_55.txt
@@ -0,0 +1 @@
+put the black bowl in the bottom drawer of the cabinet and close it.
\ No newline at end of file
diff --git a/metas/demo_590.txt b/metas/demo_590.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f305568d2fe6b9621cd44ed501564ab06daf1ca8
--- /dev/null
+++ b/metas/demo_590.txt
@@ -0,0 +1 @@
+put the cream cheese in the bowl.
\ No newline at end of file
diff --git a/metas/demo_61.txt b/metas/demo_61.txt
new file mode 100644
index 0000000000000000000000000000000000000000..173abf18590226a5ffa8ddb37142309434b48f68
--- /dev/null
+++ b/metas/demo_61.txt
@@ -0,0 +1 @@
+put the black bowl in the bottom drawer of the cabinet and close it.
\ No newline at end of file
diff --git a/metas/demo_614.txt b/metas/demo_614.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d3e0945ee347e5722c10a6be31e01e41d742f4c5
--- /dev/null
+++ b/metas/demo_614.txt
@@ -0,0 +1 @@
+turn on the stove.
\ No newline at end of file
diff --git a/metas/demo_624.txt b/metas/demo_624.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d3e0945ee347e5722c10a6be31e01e41d742f4c5
--- /dev/null
+++ b/metas/demo_624.txt
@@ -0,0 +1 @@
+turn on the stove.
\ No newline at end of file
diff --git a/metas/demo_630.txt b/metas/demo_630.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d3e0945ee347e5722c10a6be31e01e41d742f4c5
--- /dev/null
+++ b/metas/demo_630.txt
@@ -0,0 +1 @@
+turn on the stove.
\ No newline at end of file
diff --git a/metas/demo_643.txt b/metas/demo_643.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d3e0945ee347e5722c10a6be31e01e41d742f4c5
--- /dev/null
+++ b/metas/demo_643.txt
@@ -0,0 +1 @@
+turn on the stove.
\ No newline at end of file
diff --git a/metas/demo_646.txt b/metas/demo_646.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d3e0945ee347e5722c10a6be31e01e41d742f4c5
--- /dev/null
+++ b/metas/demo_646.txt
@@ -0,0 +1 @@
+turn on the stove.
\ No newline at end of file
diff --git a/metas/demo_734.txt b/metas/demo_734.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c9d3aa35ac70a0d71567068142a666494f67ed63
--- /dev/null
+++ b/metas/demo_734.txt
@@ -0,0 +1 @@
+put the wine bottle on the rack.
\ No newline at end of file
diff --git a/metas/demo_750.txt b/metas/demo_750.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0cfdd90b52317711552c72e6be900c0e77014bef
--- /dev/null
+++ b/metas/demo_750.txt
@@ -0,0 +1 @@
+push the plate to the front of the stove.
\ No newline at end of file
diff --git a/metas/demo_765.txt b/metas/demo_765.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0cfdd90b52317711552c72e6be900c0e77014bef
--- /dev/null
+++ b/metas/demo_765.txt
@@ -0,0 +1 @@
+push the plate to the front of the stove.
\ No newline at end of file
diff --git a/metas/demo_788.txt b/metas/demo_788.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0cfdd90b52317711552c72e6be900c0e77014bef
--- /dev/null
+++ b/metas/demo_788.txt
@@ -0,0 +1 @@
+push the plate to the front of the stove.
\ No newline at end of file
diff --git a/metas/demo_798.txt b/metas/demo_798.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0cfdd90b52317711552c72e6be900c0e77014bef
--- /dev/null
+++ b/metas/demo_798.txt
@@ -0,0 +1 @@
+push the plate to the front of the stove.
\ No newline at end of file
diff --git a/metas/demo_8.txt b/metas/demo_8.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f895be267738ba850fda8ca34b6232bcf653902e
--- /dev/null
+++ b/metas/demo_8.txt
@@ -0,0 +1 @@
+turn on the stove and put the moka pot on it.
\ No newline at end of file
diff --git a/metas/demo_868.txt b/metas/demo_868.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a356b3fc4b7cb63f866c9dd810a95dafe419a900
--- /dev/null
+++ b/metas/demo_868.txt
@@ -0,0 +1 @@
+put the bowl on the plate.
\ No newline at end of file
diff --git a/metas/demo_876.txt b/metas/demo_876.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a356b3fc4b7cb63f866c9dd810a95dafe419a900
--- /dev/null
+++ b/metas/demo_876.txt
@@ -0,0 +1 @@
+put the bowl on the plate.
\ No newline at end of file
diff --git a/metas/demo_900.txt b/metas/demo_900.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bd960e576f56450e865b90acda770faf6e5df31c
--- /dev/null
+++ b/metas/demo_900.txt
@@ -0,0 +1 @@
+open the middle drawer of the cabinet.
\ No newline at end of file
diff --git a/metas/demo_946.txt b/metas/demo_946.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bd960e576f56450e865b90acda770faf6e5df31c
--- /dev/null
+++ b/metas/demo_946.txt
@@ -0,0 +1 @@
+open the middle drawer of the cabinet.
\ No newline at end of file
diff --git a/metas/demo_997.txt b/metas/demo_997.txt
new file mode 100644
index 0000000000000000000000000000000000000000..356a3177b86df2d7c7eda0eae72285c0d9d942b5
--- /dev/null
+++ b/metas/demo_997.txt
@@ -0,0 +1 @@
+open the top drawer and put the bowl inside.
\ No newline at end of file
diff --git a/norm_stats.json b/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..11938d8382bd522026a49a61faf1425285dab7b9
--- /dev/null
+++ b/norm_stats.json
@@ -0,0 +1,28 @@
+{
+  "norm_method": "minmax_symmetric",
+  "action_dim": 7,
+  "action_horizon": 25,
+  "action_low": [
+    -0.9375,
+    -0.9375,
+    -0.9375,
+    -0.2582142949104309,
+    -0.375,
+    -0.3675000071525574,
+    -1.0
+  ],
+  "action_high": [
+    0.9375,
+    0.9375,
+    0.9375,
+    0.3557142913341522,
+    0.375,
+    0.375,
+    1.0
+  ],
+  "use_delta_actions": false,
+  "delta_action_mask": null,
+  "state_dim": null,
+  "state_low": null,
+  "state_high": null
+}
\ No newline at end of file