diff --git a/calvin_env/envs/tasks.py b/calvin_env/envs/tasks.py
index 1c46672..bdbc1b3 100644
--- a/calvin_env/envs/tasks.py
+++ b/calvin_env/envs/tasks.py
@@ -327,3 +327,11 @@ def cleanup(blocks, start_info, end_info):
         light = Tasks.toggle_light('lightbulb', 1, 0, start_info, end_info)
         led = Tasks.toggle_light('led', 1, 0, start_info, end_info)
         return (all(block_in_drawer) and drawer and light and led)
+
+    @staticmethod
+    def cleanup_articulated(start_info, end_info):
+        drawer = end_info["scene_info"]["doors"]["base__drawer"]["current_state"] < 0.02
+        light = Tasks.toggle_light('lightbulb', 1, 0, start_info, end_info)
+        led = Tasks.toggle_light('led', 1, 0, start_info, end_info)
+        slider_right = Tasks.move_door_rel('base__slide', -0.15, start_info, end_info)
+        return (drawer and light and led and slider_right)
diff --git a/calvin_env/scripts/gather_task_data.py b/calvin_env/scripts/gather_task_data.py
index 882ff9c..f19d732 100644
--- a/calvin_env/scripts/gather_task_data.py
+++ b/calvin_env/scripts/gather_task_data.py
@@ -119,6 +119,8 @@ def gen_task_dataset(args):
             'push_red_block_right',
             'stack_block',
             'place_in_slider',
+            'move_slider_left',
+            'move_slider_right',
         ],
         required=True,
     )
diff --git a/calvin_env/scripts/gather_task_data.sh b/calvin_env/scripts/gather_task_data.sh
index eeede77..12129f6 100644
--- a/calvin_env/scripts/gather_task_data.sh
+++ b/calvin_env/scripts/gather_task_data.sh
@@ -1,11 +1,16 @@
 #!/bin/bash
 
-python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task open_drawer &
-python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task close_drawer &
-python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task turn_off_lightbulb &
-python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task turn_off_led &
-python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task place_in_drawer &
-python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task push_into_drawer &
-python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task lift_pink_block_drawer &
-python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task lift_pink_block_table &
-python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task rotate_pink_block_right &
+#python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task open_drawer &
+#python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task close_drawer &
+#python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task turn_off_lightbulb &
+#python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task turn_off_led &
+#python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task place_in_drawer &
+#python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task push_into_drawer &
+#python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task lift_pink_block_drawer &
+#python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task lift_pink_block_table &
+#python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task rotate_pink_block_right &
+
+python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task turn_on_led &
+python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task turn_on_lightbulb &
+python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task move_slider_left &
+python calvin/calvin_env/calvin_env/scripts/gather_task_data.py --task move_slider_right &
diff --git a/conf/tasks/new_playtable_tasks.yaml b/conf/tasks/new_playtable_tasks.yaml
index 4669c32..9342d71 100644
--- a/conf/tasks/new_playtable_tasks.yaml
+++ b/conf/tasks/new_playtable_tasks.yaml
@@ -55,6 +55,7 @@ tasks:
   cleanup: [cleanup, ['block_red', 'block_blue', 'block_pink']]
   cleanup_pink: [cleanup, ['block_pink']]
   cleanup_pink_easy: [cleanup, ['block_pink']]
+  cleanup_articulated: [cleanup_articulated]
 
 # signatures of available base tasks:
 # rotate_object(obj_name, degrees, x_y_threshold=30, z_treshold=180):