[
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015050",
  "step": 4195,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4195,
   6133
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015050",
  "step": 4315,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4195,
   6133
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.20 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015050",
  "step": 4435,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4195,
   6133
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.12 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015050",
  "step": 4544,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4195,
   6133
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015050",
  "step": 4957,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4195,
   6133
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015050",
  "step": 5542,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4195,
   6133
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015050",
  "step": 5695,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4195,
   6133
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.16 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015050",
  "step": 5818,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4195,
   6133
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015050",
  "step": 5938,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4195,
   6133
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015050",
  "step": 6089,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4195,
   6133
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.07 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015090",
  "step": 2198,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3120
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 5.0 m away at +89 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015090",
  "step": 2318,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3120
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 5.2 m away at +109 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015090",
  "step": 2438,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3120
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 5.5 m away at +95 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015090",
  "step": 2558,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3120
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 5.6 m away at +73 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015090",
  "step": 2842,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3120
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 5.5 m away at +58 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015090",
  "step": 2962,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3120
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 5.5 m away at +59 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015090",
  "step": 3276,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3096,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 5.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015090",
  "step": 3396,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3096,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015090",
  "step": 3538,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3096,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015090",
  "step": 3658,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3096,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015110",
  "step": 6042,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6021,
   7954
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015110",
  "step": 6162,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6021,
   7954
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015110",
  "step": 6404,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6021,
   7954
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015110",
  "step": 7002,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6021,
   7954
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015110",
  "step": 7560,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6021,
   7954
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.29 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015110",
  "step": 7691,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6021,
   7954
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.23 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015110",
  "step": 7859,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6021,
   7954
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.04 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015130",
  "step": 4740,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3971,
   6861
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 2.9 m away at +134 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015130",
  "step": 6991,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   6861,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 2.9 m away at -144 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015130",
  "step": 1910,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   1845,
   2338
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015130",
  "step": 2030,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   1845,
   2338
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015130",
  "step": 2468,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2338,
   3030
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015130",
  "step": 2588,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2338,
   3030
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015130",
  "step": 4031,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3971,
   5039
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015130",
  "step": 4151,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3971,
   5039
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015130",
  "step": 4296,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3971,
   5039
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015130",
  "step": 4512,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3971,
   5039
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015130",
  "step": 5169,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5039,
   5865
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.9 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015130",
  "step": 5289,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5039,
   5865
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015160",
  "step": 3985,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   3855,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 3.0 m away at +122 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015170",
  "step": 124,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2361
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 1.6 m away at -158 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015170",
  "step": 244,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2361
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 1.8 m away at +174 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015170",
  "step": 427,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2361
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 1.8 m away at -147 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015170",
  "step": 547,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2361
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.0 m away at -153 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015170",
  "step": 667,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2361
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.2 m away at -152 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015170",
  "step": 911,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2361
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.3 m away at -156 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015170",
  "step": 2511,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2337,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 2.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015170",
  "step": 2631,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2337,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 2.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015170",
  "step": 2751,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2337,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 2.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015170",
  "step": 2871,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2337,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015170",
  "step": 2991,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2337,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015170",
  "step": 3121,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2337,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00015190",
  "step": 187,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   187,
   1384
  ],
  "reason": "Nothing held; the ashcan is 0.79 m away on the robot's left (+23 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00015190",
  "step": 307,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   187,
   1384
  ],
  "reason": "Nothing held; the ashcan is 0.70 m away on the robot's left (+26 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00015190",
  "step": 764,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   187,
   1384
  ],
  "reason": "Nothing held; the ashcan is 0.68 m away on the robot's left (+27 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015190",
  "step": 1534,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1340,
   9864
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015190",
  "step": 1654,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1340,
   9864
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015190",
  "step": 1883,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1340,
   9864
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015190",
  "step": 2003,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1340,
   9864
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015190",
  "step": 2123,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1340,
   9864
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015190",
  "step": 2243,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1340,
   9864
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015190",
  "step": 2363,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1340,
   9864
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015190",
  "step": 2483,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1340,
   9864
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015190",
  "step": 2603,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1340,
   9864
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015190",
  "step": 2723,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1340,
   9864
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015190",
  "step": 2843,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1340,
   9864
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015190",
  "step": 2963,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1340,
   9864
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015190",
  "step": 3083,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1340,
   9864
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015190",
  "step": 3203,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1340,
   9864
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015190",
  "step": 3323,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1340,
   9864
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015200",
  "step": 4421,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4361,
   4920
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 2.2 m away at +156 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015200",
  "step": 5070,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   4920,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.2 m away at +156 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015210",
  "step": 489,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1317
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at +149 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015210",
  "step": 609,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1317
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.9 m away at +167 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015210",
  "step": 868,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1317
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.8 m away at +160 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015210",
  "step": 988,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1317
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 4.1 m away at +178 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015210",
  "step": 1467,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1293,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015210",
  "step": 1587,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1293,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 5.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015220",
  "step": 3670,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3607,
   4020
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 3.4 m away at +150 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015220",
  "step": 4150,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   4020,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 3.4 m away at +150 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015230",
  "step": 3115,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3055,
   6779
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 2.4 m away at +78 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015230",
  "step": 3363,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3055,
   6779
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.4 m away at +59 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015230",
  "step": 4124,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4105,
   5795
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.17 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015230",
  "step": 4244,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4105,
   5795
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015230",
  "step": 4704,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4105,
   5795
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015230",
  "step": 5201,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4105,
   5795
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.18 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015230",
  "step": 5590,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4105,
   5795
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015230",
  "step": 5710,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4105,
   5795
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015240",
  "step": 3219,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3049,
   4440
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 0.6 m away at +121 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015240",
  "step": 3339,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3049,
   4440
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 0.6 m away at +121 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015240",
  "step": 3467,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3049,
   4440
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 0.6 m away at +121 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015240",
  "step": 3649,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3049,
   4440
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 0.6 m away at +121 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015240",
  "step": 3769,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3049,
   4440
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 0.6 m away at +121 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015240",
  "step": 3889,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3049,
   4440
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 0.6 m away at +168 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015240",
  "step": 4009,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3049,
   4440
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 0.7 m away at -179 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015240",
  "step": 4134,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3049,
   4440
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 0.9 m away at +177 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015240",
  "step": 4846,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   4440,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 1.0 m away at +177 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015240",
  "step": 5065,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   4440,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 0.7 m away at +178 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015250",
  "step": 2188,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2124,
   2520
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 1.7 m away at +116 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015250",
  "step": 2650,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   2520,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 1.7 m away at +116 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015300",
  "step": 3941,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3881,
   4275
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015300",
  "step": 4061,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3881,
   4275
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015300",
  "step": 4245,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3881,
   4275
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015300",
  "step": 4405,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4275,
   5760
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015300",
  "step": 4589,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4275,
   5760
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015300",
  "step": 5404,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4275,
   5760
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015310",
  "step": 635,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1182
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.8 m away at +124 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015310",
  "step": 755,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1182
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.8 m away at +147 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015310",
  "step": 875,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1182
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.8 m away at +147 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015310",
  "step": 995,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1182
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at +149 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015310",
  "step": 1115,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1182
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +150 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015310",
  "step": 1332,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1158,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015310",
  "step": 1452,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1158,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015310",
  "step": 1572,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1158,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015310",
  "step": 1692,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1158,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015310",
  "step": 1812,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1158,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015310",
  "step": 1932,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1158,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015310",
  "step": 2052,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1158,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015310",
  "step": 2172,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1158,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015310",
  "step": 9088,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1158,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015310",
  "step": 9208,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1158,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015310",
  "step": 9328,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1158,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015310",
  "step": 9739,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1158,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015310",
  "step": 9886,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1158,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015310",
  "step": 10152,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1158,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015340",
  "step": 3032,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4482
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +71 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015340",
  "step": 3152,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4482
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +72 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015340",
  "step": 3274,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4482
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +72 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015340",
  "step": 4632,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4458,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015340",
  "step": 4752,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4458,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015340",
  "step": 4872,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4458,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015340",
  "step": 4992,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4458,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015340",
  "step": 5112,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4458,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015340",
  "step": 5232,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4458,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015350",
  "step": 3482,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3422,
   4080
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 3.6 m away at +112 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015350",
  "step": 3609,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3422,
   4080
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 3.6 m away at +112 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015350",
  "step": 4210,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   4080,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 3.6 m away at +112 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015380",
  "step": 10081,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   9951,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 3.5 m away at +78 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015380",
  "step": 4705,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4693,
   8881
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.16 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015380",
  "step": 5040,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4693,
   8881
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015380",
  "step": 7441,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4693,
   8881
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015390",
  "step": 3122,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2921,
   3741
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.9 m away at +68 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015390",
  "step": 3242,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2921,
   3741
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.9 m away at +68 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015390",
  "step": 3871,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   3741,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 1.9 m away at +60 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015400",
  "step": 333,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   828
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.2 m away at +161 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015400",
  "step": 453,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   828
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.4 m away at -167 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015400",
  "step": 573,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   828
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.4 m away at -167 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015400",
  "step": 693,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   828
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.5 m away at -167 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015400",
  "step": 978,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   804,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015400",
  "step": 1098,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   804,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015400",
  "step": 1218,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   804,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015410",
  "step": 5142,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5021,
   5813
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 0.6 m away at +132 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015410",
  "step": 5943,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   5813,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 0.6 m away at +132 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015410",
  "step": 3152,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3152,
   5021
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015410",
  "step": 3272,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3152,
   5021
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.21 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015410",
  "step": 3392,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3152,
   5021
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015410",
  "step": 3612,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3152,
   5021
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.07 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015410",
  "step": 4087,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3152,
   5021
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.12 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015410",
  "step": 4283,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3152,
   5021
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015410",
  "step": 4875,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3152,
   5021
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.07 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015420",
  "step": 4693,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4477,
   5461
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 2.2 m away at +125 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015420",
  "step": 4837,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4477,
   5461
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 2.2 m away at +125 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015420",
  "step": 4957,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4477,
   5461
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 2.2 m away at +125 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015420",
  "step": 5591,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   5461,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 2.2 m away at +125 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015430",
  "step": 5019,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4285,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.2 m away at -175 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015430",
  "step": 5354,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4285,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.2 m away at -177 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015430",
  "step": 5566,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4285,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.2 m away at -178 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015430",
  "step": 5779,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4285,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.2 m away at +179 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015460",
  "step": 2838,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2838,
   4224
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015460",
  "step": 2958,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2838,
   4224
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.18 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015460",
  "step": 3078,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2838,
   4224
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015460",
  "step": 3166,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2838,
   4224
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015480",
  "step": 3199,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3110,
   3612
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 2.1 m away at -113 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015480",
  "step": 3319,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3110,
   3612
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 2.1 m away at -112 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015490",
  "step": 7371,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7350,
   9967
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.12 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015490",
  "step": 7592,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7350,
   9967
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015490",
  "step": 7804,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7350,
   9967
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015490",
  "step": 8264,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7350,
   9967
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.17 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015490",
  "step": 8450,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7350,
   9967
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.27 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015490",
  "step": 8901,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7350,
   9967
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.24 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015500",
  "step": 3108,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3048,
   3516
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 1.9 m away at +94 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015500",
  "step": 3646,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   3516,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 1.9 m away at +94 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015510",
  "step": 3077,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3012,
   6240
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 0.8 m away at +103 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015510",
  "step": 3197,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3012,
   6240
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 0.8 m away at +103 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015510",
  "step": 3385,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3012,
   6240
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 0.8 m away at +103 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015510",
  "step": 3510,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3012,
   6240
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 0.8 m away at +103 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015510",
  "step": 5439,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5424,
   5755
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.13 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015510",
  "step": 5599,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5424,
   5755
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015510",
  "step": 5711,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5424,
   5755
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.02 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015570",
  "step": 2041,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   1981,
   2657
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 1.4 m away at +79 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015570",
  "step": 2787,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   2657,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 0.7 m away at +93 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015600",
  "step": 4893,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4833,
   5753
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 0.9 m away at +91 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015600",
  "step": 5013,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4833,
   5753
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 0.9 m away at +91 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015600",
  "step": 5883,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   5753,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 0.9 m away at +80 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015630",
  "step": 3536,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3476,
   4038
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015630",
  "step": 3656,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3476,
   4038
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015630",
  "step": 3776,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3476,
   4038
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015630",
  "step": 4168,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4038,
   6566
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015630",
  "step": 4296,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4038,
   6566
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015630",
  "step": 6626,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6566,
   7799
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015630",
  "step": 6746,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6566,
   7799
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015630",
  "step": 6866,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6566,
   7799
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015630",
  "step": 6986,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6566,
   7799
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015630",
  "step": 7929,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7799,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 1.0 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015630",
  "step": 8049,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7799,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015630",
  "step": 8169,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7799,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015630",
  "step": 8313,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7799,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015630",
  "step": 8450,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7799,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015630",
  "step": 8570,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7799,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.3 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015630",
  "step": 8693,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7799,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.3 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015630",
  "step": 8813,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7799,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.3 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015630",
  "step": 9084,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7799,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.3 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015630",
  "step": 9952,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7799,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.3 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015630",
  "step": 9264,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   9204,
   9822
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015630",
  "step": 9384,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   9204,
   9822
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015630",
  "step": 9585,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   9204,
   9822
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015630",
  "step": 9705,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   9204,
   9822
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015630",
  "step": 9952,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   9822,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.4 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015630",
  "step": 10149,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   9822,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.4 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015640",
  "step": 1278,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2042
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.3 m away at +79 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015640",
  "step": 1398,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2042
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.3 m away at +114 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015640",
  "step": 1615,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2042
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at +119 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015640",
  "step": 1735,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2042
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.5 m away at +120 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015640",
  "step": 2192,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2018,
   5997
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015640",
  "step": 2312,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2018,
   5997
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015640",
  "step": 2432,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2018,
   5997
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015640",
  "step": 2552,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2018,
   5997
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015640",
  "step": 2677,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2018,
   5997
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015640",
  "step": 3395,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2018,
   5997
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015640",
  "step": 3545,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2018,
   5997
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015640",
  "step": 3665,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2018,
   5997
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015640",
  "step": 3847,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2018,
   5997
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015640",
  "step": 4336,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2018,
   5997
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015640",
  "step": 4645,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2018,
   5997
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015640",
  "step": 4765,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2018,
   5997
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015640",
  "step": 4885,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2018,
   5997
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015640",
  "step": 5005,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2018,
   5997
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015640",
  "step": 5375,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2018,
   5997
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015650",
  "step": 2611,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   2481,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 2.4 m away at -131 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015660",
  "step": 5265,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5205,
   5801
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 1.7 m away at +56 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015660",
  "step": 5931,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   5801,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 1.7 m away at +56 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015660",
  "step": 2291,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2279,
   4105
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015660",
  "step": 2411,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2279,
   4105
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015660",
  "step": 2531,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2279,
   4105
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.20 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015660",
  "step": 2909,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2279,
   4105
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.26 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015660",
  "step": 3029,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2279,
   4105
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.24 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015660",
  "step": 3448,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2279,
   4105
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.04 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015660",
  "step": 3516,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2279,
   4105
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.07 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015670",
  "step": 1485,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2112
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.5 m away at +127 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015670",
  "step": 1605,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2112
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.7 m away at +148 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015670",
  "step": 1748,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2112
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.7 m away at +148 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015670",
  "step": 1929,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2112
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.8 m away at +149 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015670",
  "step": 2262,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2088,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015670",
  "step": 2382,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2088,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015670",
  "step": 2503,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2088,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015670",
  "step": 3944,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2088,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015670",
  "step": 4064,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2088,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015670",
  "step": 4184,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2088,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015670",
  "step": 4304,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2088,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015670",
  "step": 4424,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2088,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015670",
  "step": 4544,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2088,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015670",
  "step": 5418,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2088,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015670",
  "step": 5538,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2088,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015670",
  "step": 5658,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2088,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015670",
  "step": 5803,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2088,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015670",
  "step": 5923,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2088,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015670",
  "step": 6043,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2088,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015680",
  "step": 4642,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4582,
   8122
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015680",
  "step": 4762,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4582,
   8122
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015680",
  "step": 5467,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4582,
   8122
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015680",
  "step": 8252,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   8122,
   9301
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.4 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015690",
  "step": 5158,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5098,
   5460
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 1.2 m away at -180 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015690",
  "step": 5590,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   5460,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 1.2 m away at -180 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015700",
  "step": 3062,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3002,
   3481
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.9 m away at -161 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015700",
  "step": 3611,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   3481,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 1.9 m away at -161 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015710",
  "step": 2052,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2005,
   3301
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.24 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015710",
  "step": 2369,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2005,
   3301
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.18 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015710",
  "step": 3027,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2005,
   3301
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015720",
  "step": 1250,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2350
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at -167 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015720",
  "step": 1386,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2350
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.8 m away at -173 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015720",
  "step": 1506,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2350
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.1 m away at +175 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015720",
  "step": 1626,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2350
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.1 m away at +179 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015720",
  "step": 1854,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2350
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.2 m away at +178 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015720",
  "step": 1974,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2350
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.2 m away at +178 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015720",
  "step": 2500,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2326,
   10403
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015720",
  "step": 2620,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2326,
   10403
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015720",
  "step": 2740,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2326,
   10403
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015740",
  "step": 3880,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3511,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.1 m away at +82 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00015750",
  "step": 283,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   283,
   618
  ],
  "reason": "Nothing held; the ashcan is 0.53 m away on the robot's left (+7 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015750",
  "step": 768,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   591,
   4134
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015750",
  "step": 888,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   591,
   4134
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015750",
  "step": 1008,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   591,
   4134
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015750",
  "step": 1128,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   591,
   4134
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015750",
  "step": 1282,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   591,
   4134
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015750",
  "step": 1402,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   591,
   4134
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015750",
  "step": 1820,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   591,
   4134
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015750",
  "step": 1940,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   591,
   4134
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015750",
  "step": 2267,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   591,
   4134
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015750",
  "step": 2679,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   591,
   4134
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015750",
  "step": 3076,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   591,
   4134
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015750",
  "step": 3303,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   591,
   4134
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015750",
  "step": 4013,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   591,
   4134
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015770",
  "step": 1985,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4163
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +177 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015770",
  "step": 2105,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4163
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +165 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015770",
  "step": 2249,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4163
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at +151 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015770",
  "step": 2369,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4163
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at +127 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015770",
  "step": 2489,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4163
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.8 m away at +92 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015770",
  "step": 2609,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4163
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 4.2 m away at +98 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015770",
  "step": 2729,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4163
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 4.3 m away at +70 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015770",
  "step": 3662,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4163
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 4.3 m away at +82 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015770",
  "step": 3906,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4163
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 4.3 m away at +82 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015770",
  "step": 4313,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4140,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015770",
  "step": 4433,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4140,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00015800",
  "step": 348,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   348,
   1358
  ],
  "reason": "Nothing held; the ashcan is 0.80 m away on the robot's left (+19 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00015800",
  "step": 544,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   348,
   1358
  ],
  "reason": "Nothing held; the ashcan is 0.71 m away on the robot's left (+21 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00015800",
  "step": 1140,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   348,
   1358
  ],
  "reason": "Nothing held; the ashcan is 0.61 m away on the robot's left (+31 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015800",
  "step": 1508,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1331,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015800",
  "step": 1628,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1331,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015800",
  "step": 1975,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1331,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015800",
  "step": 2095,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1331,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015800",
  "step": 2496,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1331,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015800",
  "step": 2616,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1331,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015800",
  "step": 2989,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1331,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015800",
  "step": 3245,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1331,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015800",
  "step": 3365,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1331,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015800",
  "step": 3745,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1331,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015800",
  "step": 3865,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1331,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015800",
  "step": 3985,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1331,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015800",
  "step": 4156,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1331,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015800",
  "step": 4276,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1331,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015800",
  "step": 4396,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1331,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015810",
  "step": 260,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2750
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at -131 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015810",
  "step": 380,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2750
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at -81 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015810",
  "step": 500,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2750
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at -100 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015810",
  "step": 620,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2750
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at -94 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015810",
  "step": 740,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2750
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at -94 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015810",
  "step": 860,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2750
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at -96 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015810",
  "step": 2900,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2727,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015810",
  "step": 3028,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2727,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015830",
  "step": 685,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1346
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at +104 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015830",
  "step": 805,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1346
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +101 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015830",
  "step": 934,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1346
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +101 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015830",
  "step": 1054,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1346
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +104 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015830",
  "step": 1496,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1322,
   2582
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015830",
  "step": 1616,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1322,
   2582
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015830",
  "step": 1736,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1322,
   2582
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015830",
  "step": 2043,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1322,
   2582
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015830",
  "step": 2371,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1322,
   2582
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015840",
  "step": 7999,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7939,
   8966
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 0.7 m away at +157 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015840",
  "step": 8271,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7939,
   8966
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.7 m away at +157 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015840",
  "step": 8391,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7939,
   8966
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.7 m away at +157 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015840",
  "step": 9096,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   8966,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 0.7 m away at +157 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015860",
  "step": 3259,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3199,
   3797
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 2.3 m away at +148 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015860",
  "step": 3379,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3199,
   3797
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 2.3 m away at +148 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015860",
  "step": 3927,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   3797,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.3 m away at +148 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015890",
  "step": 3129,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3069,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 2.2 m away at +110 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015890",
  "step": 3249,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3069,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 2.2 m away at +110 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015890",
  "step": 3461,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3069,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.2 m away at +110 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015900",
  "step": 5652,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5036,
   6656
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.1 m away at -178 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015900",
  "step": 5772,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5036,
   6656
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.1 m away at -178 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015900",
  "step": 4292,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4275,
   5036
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015900",
  "step": 4544,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4275,
   5036
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015930",
  "step": 5154,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5154,
   6125
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015930",
  "step": 5274,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5154,
   6125
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015930",
  "step": 5421,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5154,
   6125
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015930",
  "step": 5612,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5154,
   6125
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015930",
  "step": 5844,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5154,
   6125
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015930",
  "step": 6022,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5154,
   6125
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.07 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015930",
  "step": 3510,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3450,
   4764
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015930",
  "step": 3630,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3450,
   4764
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015930",
  "step": 3762,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3450,
   4764
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015930",
  "step": 4043,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3450,
   4764
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015930",
  "step": 4576,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3450,
   4764
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015930",
  "step": 4894,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4764,
   6125
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015930",
  "step": 5015,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4764,
   6125
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015930",
  "step": 5135,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4764,
   6125
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015940",
  "step": 876,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1323
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.5 m away at +116 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015940",
  "step": 996,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1323
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.6 m away at +147 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015940",
  "step": 1133,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1323
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.6 m away at +148 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015940",
  "step": 1254,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1323
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.7 m away at +152 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015940",
  "step": 1473,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1299,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015940",
  "step": 1593,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1299,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015940",
  "step": 1713,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1299,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015940",
  "step": 1833,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1299,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015940",
  "step": 1953,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1299,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015950",
  "step": 2815,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2755,
   3221
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 1.3 m away at -148 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015950",
  "step": 3351,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   3221,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 1.3 m away at -131 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015980",
  "step": 8030,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7970,
   9497
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 1.6 m away at +135 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015980",
  "step": 8352,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7970,
   9497
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 1.6 m away at +135 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015980",
  "step": 8472,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7970,
   9497
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 1.6 m away at +124 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015980",
  "step": 8592,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7970,
   9497
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 1.6 m away at +104 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015980",
  "step": 8712,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7970,
   9497
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 1.7 m away at +128 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015980",
  "step": 8832,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7970,
   9497
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 1.7 m away at +115 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015990",
  "step": 3397,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3337,
   3755
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 1.1 m away at +102 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015990",
  "step": 3885,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   3755,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 1.1 m away at +102 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016000",
  "step": 1195,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 4.1 m away at +169 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016000",
  "step": 1685,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 4.3 m away at +160 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016000",
  "step": 1805,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 4.4 m away at +174 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016000",
  "step": 1998,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 4.4 m away at +172 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016000",
  "step": 2166,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 4.4 m away at +172 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016020",
  "step": 7238,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   7178,
   7800
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 2.5 m away at -143 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016020",
  "step": 7930,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   7800,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 2.5 m away at -143 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016030",
  "step": 3477,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3417,
   3783
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 0.9 m away at -151 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016030",
  "step": 3913,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   3783,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 0.8 m away at -148 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016040",
  "step": 3702,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3536,
   4073
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.0 m away at -93 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016040",
  "step": 3822,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3536,
   4073
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.0 m away at -93 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016050",
  "step": 3057,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2997,
   3596
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.6 m away at +128 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016050",
  "step": 3726,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   3596,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 2.6 m away at +128 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016060",
  "step": 3162,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3102,
   3631
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 1.7 m away at +72 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016060",
  "step": 3761,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   3631,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 1.7 m away at +68 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016070",
  "step": 6257,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   6197,
   6460
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016070",
  "step": 6377,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   6197,
   6460
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016090",
  "step": 3395,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3209,
   3979
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 1.1 m away at +84 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016090",
  "step": 3515,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3209,
   3979
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 1.1 m away at +84 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016090",
  "step": 3774,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3209,
   3979
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.1 m away at +84 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016090",
  "step": 4232,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   3979,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 1.1 m away at +84 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016110",
  "step": 3532,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4681
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +154 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016110",
  "step": 3955,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4681
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at +158 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016110",
  "step": 4075,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4681
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.8 m away at +117 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016110",
  "step": 4195,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4681
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.9 m away at +125 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016110",
  "step": 4322,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4681
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.9 m away at +125 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016110",
  "step": 4831,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4656,
   7043
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016110",
  "step": 4951,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4656,
   7043
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016110",
  "step": 5071,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4656,
   7043
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016110",
  "step": 5191,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4656,
   7043
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016120",
  "step": 708,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +158 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016120",
  "step": 828,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at -139 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016120",
  "step": 1479,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +100 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016120",
  "step": 1768,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +112 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016120",
  "step": 2530,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +174 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016120",
  "step": 2650,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +143 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016120",
  "step": 2826,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at +156 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016120",
  "step": 2946,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +151 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016120",
  "step": 3162,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +150 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016120",
  "step": 3282,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +119 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016150",
  "step": 672,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1140
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at +95 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016150",
  "step": 792,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1140
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.5 m away at +119 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016150",
  "step": 912,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1140
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.5 m away at +119 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016150",
  "step": 1290,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1116,
   2418
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016150",
  "step": 1410,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1116,
   2418
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016150",
  "step": 1530,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1116,
   2418
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016150",
  "step": 1684,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1116,
   2418
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016160",
  "step": 4816,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4756,
   5449
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 3.2 m away at +50 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016160",
  "step": 4936,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4756,
   5449
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 3.2 m away at +50 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016160",
  "step": 5128,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4756,
   5449
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 3.2 m away at +50 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016160",
  "step": 5579,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   5449,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 3.2 m away at +50 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016170",
  "step": 121,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   810
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at -82 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016170",
  "step": 241,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   810
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at -77 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016170",
  "step": 361,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   810
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at -63 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016170",
  "step": 481,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   810
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at -63 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016170",
  "step": 960,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   786,
   2722
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016170",
  "step": 1080,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   786,
   2722
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016170",
  "step": 1200,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   786,
   2722
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016170",
  "step": 1536,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   786,
   2722
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016170",
  "step": 1679,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   786,
   2722
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016170",
  "step": 1799,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   786,
   2722
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016170",
  "step": 1919,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   786,
   2722
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 1.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016170",
  "step": 2039,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   786,
   2722
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016170",
  "step": 2159,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   786,
   2722
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016170",
  "step": 2279,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   786,
   2722
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016170",
  "step": 2414,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   786,
   2722
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016170",
  "step": 2534,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   786,
   2722
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016180",
  "step": 6691,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   6679,
   7465
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.20 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016180",
  "step": 7071,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   6679,
   7465
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.19 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016180",
  "step": 7242,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   6679,
   7465
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016180",
  "step": 8815,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8526,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016180",
  "step": 8977,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8526,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.19 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016180",
  "step": 9091,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8526,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016180",
  "step": 9211,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8526,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.19 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016180",
  "step": 9387,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8526,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016180",
  "step": 9747,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8526,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.17 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016180",
  "step": 10214,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8526,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016180",
  "step": 10334,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8526,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016180",
  "step": 2962,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2951,
   4863
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.19 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016180",
  "step": 3624,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2951,
   4863
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016180",
  "step": 3827,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2951,
   4863
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016180",
  "step": 3901,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2951,
   4863
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016180",
  "step": 4224,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2951,
   4863
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016180",
  "step": 4415,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2951,
   4863
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.17 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016180",
  "step": 7538,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7465,
   8520
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016180",
  "step": 7658,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7465,
   8520
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016180",
  "step": 7778,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7465,
   8520
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016180",
  "step": 7898,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7465,
   8520
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016180",
  "step": 8018,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7465,
   8520
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016180",
  "step": 8233,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7465,
   8520
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016180",
  "step": 8353,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7465,
   8520
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016180",
  "step": 8650,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8520,
   10536
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016180",
  "step": 8770,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8520,
   10536
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016190",
  "step": 4034,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3948,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 3.1 m away at -66 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016190",
  "step": 4154,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3948,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 3.1 m away at -66 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016190",
  "step": 3321,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3321,
   3948
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016190",
  "step": 3441,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3321,
   3948
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.21 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016190",
  "step": 3561,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3321,
   3948
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016190",
  "step": 3724,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3321,
   3948
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016190",
  "step": 4464,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4457,
   6357
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.32 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016190",
  "step": 4584,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4457,
   6357
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016190",
  "step": 4789,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4457,
   6357
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.07 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016190",
  "step": 4990,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4457,
   6357
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016190",
  "step": 5374,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4457,
   6357
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016190",
  "step": 5494,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4457,
   6357
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016190",
  "step": 4008,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3948,
   4334
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016190",
  "step": 4128,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3948,
   4334
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016220",
  "step": 1931,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2426
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.5 m away at +150 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016220",
  "step": 2051,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2426
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.9 m away at +144 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016220",
  "step": 2181,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2426
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.9 m away at +137 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016220",
  "step": 2316,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2426
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.9 m away at +137 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016220",
  "step": 2576,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2402,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016220",
  "step": 2696,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2402,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 6.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016220",
  "step": 2816,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2402,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 6.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016220",
  "step": 2936,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2402,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 6.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016230",
  "step": 2767,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5697
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at +108 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016230",
  "step": 2905,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5697
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at +132 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016230",
  "step": 3025,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5697
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +179 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016230",
  "step": 3145,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5697
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at -149 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016230",
  "step": 4293,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5697
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +149 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016230",
  "step": 4839,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5697
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +96 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016230",
  "step": 5038,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5697
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +121 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016230",
  "step": 5424,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5697
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +129 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016230",
  "step": 5544,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5697
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +129 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016230",
  "step": 5847,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5673,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016230",
  "step": 5967,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5673,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016230",
  "step": 6087,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5673,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016230",
  "step": 6207,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5673,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016230",
  "step": 6327,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5673,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016230",
  "step": 6447,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5673,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016240",
  "step": 3443,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3383,
   4421
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 3.4 m away at +101 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016240",
  "step": 3563,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3383,
   4421
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 3.4 m away at +101 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016240",
  "step": 4551,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   4421,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 3.3 m away at +102 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016250",
  "step": 3886,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3795,
   4902
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 2.1 m away at +131 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016250",
  "step": 4006,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3795,
   4902
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 2.1 m away at +131 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016250",
  "step": 4330,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3795,
   4902
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.1 m away at +131 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016250",
  "step": 7556,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   7452,
   7980
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016250",
  "step": 7687,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   7452,
   7980
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016250",
  "step": 7807,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   7452,
   7980
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016250",
  "step": 7927,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   7452,
   7980
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016270",
  "step": 4121,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4061,
   4516
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 1.4 m away at +146 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016270",
  "step": 4646,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   4516,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 1.4 m away at +146 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016280",
  "step": 3091,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2939,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.5 m away at +171 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016280",
  "step": 3211,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2939,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.5 m away at +171 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016280",
  "step": 3414,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2939,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.5 m away at +171 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016290",
  "step": 6913,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   6897,
   7507
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.21 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016290",
  "step": 7033,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   6897,
   7507
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016290",
  "step": 7144,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   6897,
   7507
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016290",
  "step": 7322,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   6897,
   7507
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016320",
  "step": 2091,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4979
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 1.9 m away at +158 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016320",
  "step": 4098,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4979
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.5 m away at +74 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016320",
  "step": 4218,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4979
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.6 m away at +132 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016320",
  "step": 4544,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4979
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.6 m away at +116 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016320",
  "step": 4664,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4979
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.6 m away at +78 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016320",
  "step": 4825,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4979
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.7 m away at +79 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016320",
  "step": 5129,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4955,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016320",
  "step": 5255,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4955,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016320",
  "step": 5375,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4955,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016320",
  "step": 5495,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4955,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 1.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016320",
  "step": 5615,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4955,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 1.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016320",
  "step": 5735,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4955,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 1.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016340",
  "step": 8661,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   8661,
   9781
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016340",
  "step": 8804,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   8661,
   9781
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.25 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016340",
  "step": 8924,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   8661,
   9781
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.19 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016340",
  "step": 9049,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   8661,
   9781
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016340",
  "step": 9304,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   8661,
   9781
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.17 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016340",
  "step": 4034,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3974,
   8378
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016340",
  "step": 4154,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3974,
   8378
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016340",
  "step": 4502,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3974,
   8378
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016340",
  "step": 5147,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3974,
   8378
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016340",
  "step": 6108,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3974,
   8378
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016340",
  "step": 8508,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   8378,
   9781
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016340",
  "step": 8628,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   8378,
   9781
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016350",
  "step": 5734,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5409,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 2.2 m away at +177 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016350",
  "step": 7282,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5409,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 1.9 m away at -150 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016360",
  "step": 5753,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5367,
   6300
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 3.2 m away at +73 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016360",
  "step": 6430,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   6300,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 3.2 m away at +72 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00016370",
  "step": 1329,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1329,
   2735
  ],
  "reason": "Nothing held; the ashcan is 0.49 m away on the robot's left (+8 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016370",
  "step": 4331,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2709,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016370",
  "step": 4451,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2709,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016370",
  "step": 4732,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2709,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016370",
  "step": 5080,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2709,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016370",
  "step": 5996,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2709,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016370",
  "step": 6116,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2709,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016370",
  "step": 6237,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2709,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016370",
  "step": 6357,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2709,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016370",
  "step": 6477,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2709,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016370",
  "step": 6597,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2709,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016380",
  "step": 60,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   440
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at -162 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016380",
  "step": 224,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   440
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at -162 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016380",
  "step": 590,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   416,
   2681
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016380",
  "step": 710,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   416,
   2681
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016380",
  "step": 830,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   416,
   2681
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016380",
  "step": 954,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   416,
   2681
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016390",
  "step": 694,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1573
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.7 m away at +153 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016390",
  "step": 814,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1573
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.7 m away at +164 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016390",
  "step": 1092,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1573
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.8 m away at -179 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016390",
  "step": 1238,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1573
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.8 m away at -179 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016390",
  "step": 1358,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1573
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at -179 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016390",
  "step": 1723,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1549,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016390",
  "step": 3790,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1549,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016390",
  "step": 3910,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1549,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016390",
  "step": 4030,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1549,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016390",
  "step": 5100,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1549,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016390",
  "step": 5567,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1549,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016390",
  "step": 6708,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1549,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016400",
  "step": 2823,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2463,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 2.6 m away at +180 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016400",
  "step": 4262,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3985,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016400",
  "step": 4382,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3985,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016400",
  "step": 4843,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3985,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016400",
  "step": 4952,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3985,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016400",
  "step": 5205,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3985,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016400",
  "step": 5325,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3985,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.12 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016400",
  "step": 5684,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3985,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016400",
  "step": 6160,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3985,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.04 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016400",
  "step": 6767,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3985,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016400",
  "step": 7022,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3985,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.04 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016400",
  "step": 7957,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3985,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016400",
  "step": 8358,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3985,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016400",
  "step": 8478,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3985,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.18 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016400",
  "step": 8656,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3985,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016400",
  "step": 9611,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3985,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.22 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016400",
  "step": 10242,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3985,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.34 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016400",
  "step": 2523,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2463,
   3137
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016400",
  "step": 2643,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2463,
   3137
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016400",
  "step": 2763,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2463,
   3137
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016400",
  "step": 3821,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3761,
   3979
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016400",
  "step": 3941,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3761,
   3979
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016400",
  "step": 4109,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3979,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.8 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016400",
  "step": 4229,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3979,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016400",
  "step": 9820,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3979,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.8 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016400",
  "step": 10042,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3979,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.8 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016420",
  "step": 4829,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4829,
   6130
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016420",
  "step": 5245,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4829,
   6130
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.19 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016420",
  "step": 5620,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4829,
   6130
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016430",
  "step": 3380,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   3250,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.7 m away at -167 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016450",
  "step": 1381,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2034
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 1.3 m away at -102 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016450",
  "step": 1501,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2034
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 1.6 m away at -111 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016450",
  "step": 1711,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2034
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 1.6 m away at -111 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016450",
  "step": 1843,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2034
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 1.6 m away at -112 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016450",
  "step": 2184,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2010,
   10239
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016450",
  "step": 2304,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2010,
   10239
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016450",
  "step": 2424,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2010,
   10239
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016450",
  "step": 2544,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2010,
   10239
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016450",
  "step": 2815,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2010,
   10239
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016450",
  "step": 2935,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2010,
   10239
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016450",
  "step": 3055,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2010,
   10239
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016450",
  "step": 3175,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2010,
   10239
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016450",
  "step": 3525,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2010,
   10239
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016450",
  "step": 4400,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2010,
   10239
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016450",
  "step": 4760,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2010,
   10239
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016450",
  "step": 5063,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2010,
   10239
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016450",
  "step": 5336,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2010,
   10239
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016450",
  "step": 5456,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2010,
   10239
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016450",
  "step": 5576,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2010,
   10239
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016460",
  "step": 2812,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2752,
   3941
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 2.5 m away at +107 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016460",
  "step": 2932,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2752,
   3941
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 2.5 m away at +107 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016460",
  "step": 3153,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2752,
   3941
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.5 m away at +107 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016460",
  "step": 3343,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2752,
   3941
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.5 m away at +100 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016460",
  "step": 3463,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2752,
   3941
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.5 m away at +54 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016460",
  "step": 4071,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   3941,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 2.5 m away at +50 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016470",
  "step": 617,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at +118 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016470",
  "step": 763,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.7 m away at +170 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016470",
  "step": 953,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at -174 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016470",
  "step": 6553,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   6553,
   7260
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016470",
  "step": 6789,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   6553,
   7260
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016470",
  "step": 7083,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   6553,
   7260
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016470",
  "step": 8499,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8499,
   9141
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016470",
  "step": 8654,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8499,
   9141
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016470",
  "step": 8908,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8499,
   9141
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016470",
  "step": 7320,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7260,
   8079
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016470",
  "step": 7440,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7260,
   8079
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016470",
  "step": 7560,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7260,
   8079
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016470",
  "step": 7680,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7260,
   8079
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016470",
  "step": 8263,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8133,
   9141
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016470",
  "step": 8383,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8133,
   9141
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016500",
  "step": 2574,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2514,
   3161
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 3.5 m away at +151 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016500",
  "step": 2694,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2514,
   3161
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 3.5 m away at +151 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016500",
  "step": 3291,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   3161,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 3.5 m away at +152 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016510",
  "step": 6907,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   6837,
   7202
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 2.2 m away at +64 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016510",
  "step": 7332,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   7202,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.2 m away at +64 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016510",
  "step": 2683,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2671,
   6074
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016510",
  "step": 2984,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2671,
   6074
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.12 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016510",
  "step": 3281,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2671,
   6074
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016510",
  "step": 4015,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2671,
   6074
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.25 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016510",
  "step": 4225,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2671,
   6074
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016550",
  "step": 60,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   845
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at -120 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016550",
  "step": 180,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   845
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at -112 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016550",
  "step": 300,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   845
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at -112 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016550",
  "step": 995,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   821,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016550",
  "step": 1115,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   821,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016550",
  "step": 1240,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   821,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016550",
  "step": 1360,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   821,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016550",
  "step": 1480,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   821,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016550",
  "step": 1600,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   821,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016550",
  "step": 1720,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   821,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016550",
  "step": 1840,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   821,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016550",
  "step": 2030,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   821,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016550",
  "step": 2150,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   821,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016550",
  "step": 2270,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   821,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016570",
  "step": 3200,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3079,
   3561
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 1.1 m away at +96 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016570",
  "step": 3320,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3079,
   3561
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 1.1 m away at +96 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016570",
  "step": 3139,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3079,
   3429
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016570",
  "step": 3259,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3079,
   3429
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016570",
  "step": 3379,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3079,
   3429
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016590",
  "step": 2848,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2835,
   5031
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.16 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016590",
  "step": 2968,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2835,
   5031
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016590",
  "step": 3132,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2835,
   5031
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016590",
  "step": 3418,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2835,
   5031
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016590",
  "step": 4140,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2835,
   5031
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016590",
  "step": 4457,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2835,
   5031
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016600",
  "step": 3431,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3371,
   4820
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 1.1 m away at +93 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016600",
  "step": 3638,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3371,
   4820
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.4 m away at +107 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016600",
  "step": 3758,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3371,
   4820
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.4 m away at +111 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016600",
  "step": 4081,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3371,
   4820
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 0.9 m away at +83 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016600",
  "step": 4950,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   4820,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 1.0 m away at +107 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00016620",
  "step": 407,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   407,
   867
  ],
  "reason": "Nothing held; the ashcan is 0.66 m away on the robot's left (+10 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00016620",
  "step": 527,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   407,
   867
  ],
  "reason": "Nothing held; the ashcan is 0.55 m away on the robot's left (+37 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00016620",
  "step": 700,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   407,
   867
  ],
  "reason": "Nothing held; the ashcan is 0.54 m away on the robot's left (+43 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016620",
  "step": 1017,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   840,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016620",
  "step": 1137,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   840,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016620",
  "step": 1257,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   840,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016620",
  "step": 1377,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   840,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016620",
  "step": 1558,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   840,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016640",
  "step": 3551,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3491,
   4075
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 2.0 m away at +90 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016640",
  "step": 3671,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3491,
   4075
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 2.0 m away at +90 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016640",
  "step": 4205,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   4075,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 2.0 m away at +90 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016670",
  "step": 782,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.8 m away at +151 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016670",
  "step": 902,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +140 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016670",
  "step": 1023,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +129 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016670",
  "step": 1592,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.2 m away at +155 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016670",
  "step": 1770,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.3 m away at +168 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016670",
  "step": 1890,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.5 m away at -178 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016670",
  "step": 2027,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.5 m away at -176 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016680",
  "step": 4314,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4252,
   4745
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016680",
  "step": 4434,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4252,
   4745
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016680",
  "step": 4554,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4252,
   4745
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016680",
  "step": 4875,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4745,
   5462
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016680",
  "step": 4995,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4745,
   5462
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016690",
  "step": 567,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2060
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.5 m away at -148 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016690",
  "step": 704,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2060
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at -173 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016690",
  "step": 824,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2060
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at +152 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016690",
  "step": 944,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2060
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at +154 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016690",
  "step": 1096,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2060
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +141 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016690",
  "step": 1220,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2060
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +133 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016690",
  "step": 1340,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2060
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +135 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016690",
  "step": 2210,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2036,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016690",
  "step": 2330,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2036,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016690",
  "step": 2450,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2036,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016690",
  "step": 2570,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2036,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016690",
  "step": 2690,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2036,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016690",
  "step": 2810,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2036,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016690",
  "step": 2930,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2036,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016690",
  "step": 3050,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2036,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016690",
  "step": 3891,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2036,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016690",
  "step": 4011,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2036,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016690",
  "step": 4220,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2036,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016690",
  "step": 4376,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2036,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016690",
  "step": 4496,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2036,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016690",
  "step": 4616,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2036,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016690",
  "step": 4902,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2036,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016700",
  "step": 3561,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   3431,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 1.1 m away at -127 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016710",
  "step": 2715,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2700,
   3545
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.16 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016710",
  "step": 3063,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2700,
   3545
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016710",
  "step": 4292,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3545,
   7723
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016710",
  "step": 4435,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3545,
   7723
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016710",
  "step": 4584,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3545,
   7723
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016710",
  "step": 4826,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3545,
   7723
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016710",
  "step": 4946,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3545,
   7723
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016710",
  "step": 5066,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3545,
   7723
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016710",
  "step": 5186,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3545,
   7723
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016710",
  "step": 5347,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3545,
   7723
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016710",
  "step": 5467,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3545,
   7723
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016710",
  "step": 5587,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3545,
   7723
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016710",
  "step": 7853,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7723,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.8 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016710",
  "step": 7991,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7723,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016710",
  "step": 8111,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7723,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016710",
  "step": 8231,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7723,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016710",
  "step": 8442,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7723,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016710",
  "step": 8764,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7723,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016710",
  "step": 8884,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7723,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016710",
  "step": 9004,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7723,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.8 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016710",
  "step": 9135,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7723,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.8 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016710",
  "step": 9511,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7723,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016720",
  "step": 4014,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3954,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 3.1 m away at +55 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016720",
  "step": 4547,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3954,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 3.1 m away at -50 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016720",
  "step": 6466,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3954,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 3.0 m away at +51 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016740",
  "step": 1165,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +104 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016740",
  "step": 1328,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +110 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016740",
  "step": 2131,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +162 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016750",
  "step": 6906,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   6846,
   7241
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 1.1 m away at +129 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016750",
  "step": 7371,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   7241,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 1.1 m away at +129 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016760",
  "step": 5049,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4802,
   5318
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016760",
  "step": 5169,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4802,
   5318
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016760",
  "step": 5448,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5318,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.3 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016760",
  "step": 5568,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5318,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.3 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016760",
  "step": 5826,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5318,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.3 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016760",
  "step": 5946,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5318,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.4 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016760",
  "step": 6066,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5318,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016760",
  "step": 6229,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5318,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.4 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016760",
  "step": 6389,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5318,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.4 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016760",
  "step": 7269,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5318,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.4 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016760",
  "step": 7467,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5318,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.3 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016760",
  "step": 7702,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5318,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.4 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016770",
  "step": 1920,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2602
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +112 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016770",
  "step": 2040,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2602
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +154 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016770",
  "step": 2160,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2602
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +142 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016770",
  "step": 2280,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2602
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +139 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016770",
  "step": 2752,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2578,
   9822
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016770",
  "step": 2872,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2578,
   9822
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016770",
  "step": 2992,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2578,
   9822
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016770",
  "step": 3112,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2578,
   9822
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016770",
  "step": 3232,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2578,
   9822
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016770",
  "step": 3371,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2578,
   9822
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016770",
  "step": 3491,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2578,
   9822
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016780",
  "step": 2937,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2877,
   3295
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 1.8 m away at +156 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016780",
  "step": 3425,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   3295,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 1.8 m away at +157 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016790",
  "step": 5157,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5097,
   5640
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 2.1 m away at +59 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016790",
  "step": 6046,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   5640,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 2.1 m away at +59 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016800",
  "step": 5138,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5138,
   5751
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016800",
  "step": 5258,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5138,
   5751
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016800",
  "step": 5529,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5138,
   5751
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.02 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016800",
  "step": 2134,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2074,
   2340
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016800",
  "step": 2254,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2074,
   2340
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016800",
  "step": 3421,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3361,
   4919
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016800",
  "step": 3541,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3361,
   4919
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016800",
  "step": 3758,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3361,
   4919
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016800",
  "step": 3878,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3361,
   4919
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016800",
  "step": 5049,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4919,
   5751
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016800",
  "step": 5811,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5751,
   7100
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016800",
  "step": 5931,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5751,
   7100
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016800",
  "step": 6051,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5751,
   7100
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016800",
  "step": 6176,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5751,
   7100
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016800",
  "step": 6658,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5751,
   7100
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016800",
  "step": 7230,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7100,
   10536
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016800",
  "step": 7350,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7100,
   10536
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016800",
  "step": 7470,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7100,
   10536
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016800",
  "step": 7667,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7100,
   10536
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016800",
  "step": 7787,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7100,
   10536
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016800",
  "step": 8056,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7100,
   10536
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016800",
  "step": 8469,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7100,
   10536
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016800",
  "step": 8589,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7100,
   10536
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016800",
  "step": 8709,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7100,
   10536
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016800",
  "step": 8829,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7100,
   10536
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016800",
  "step": 9325,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   9260,
   10012
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016800",
  "step": 9445,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   9260,
   10012
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016800",
  "step": 9565,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   9260,
   10012
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016800",
  "step": 10142,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   10012,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.8 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016800",
  "step": 10262,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   10012,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016800",
  "step": 10382,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   10012,
   10536
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016810",
  "step": 6488,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6476,
   8597
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016810",
  "step": 6753,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6476,
   8597
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016810",
  "step": 7004,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6476,
   8597
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016810",
  "step": 7126,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6476,
   8597
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.16 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016810",
  "step": 7368,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6476,
   8597
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016810",
  "step": 7558,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6476,
   8597
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016810",
  "step": 7745,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6476,
   8597
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.07 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016810",
  "step": 8186,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6476,
   8597
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016810",
  "step": 8379,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6476,
   8597
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.20 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016810",
  "step": 8511,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6476,
   8597
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.25 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016830",
  "step": 6360,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2512,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.6 m away at +51 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016850",
  "step": 8812,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   8682,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 3.1 m away at -178 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016850",
  "step": 6485,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   6485,
   7743
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016850",
  "step": 6625,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   6485,
   7743
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.20 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016850",
  "step": 6745,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   6485,
   7743
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016850",
  "step": 7150,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   6485,
   7743
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.07 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016850",
  "step": 4930,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4870,
   6287
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016850",
  "step": 5050,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4870,
   6287
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016850",
  "step": 5332,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4870,
   6287
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016850",
  "step": 6257,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4870,
   6287
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016850",
  "step": 6417,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   6287,
   7743
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016870",
  "step": 404,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   981
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at +100 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016870",
  "step": 524,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   981
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.5 m away at +65 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016870",
  "step": 727,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   981
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.7 m away at +56 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016870",
  "step": 1131,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   957,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 2.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016870",
  "step": 1251,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   957,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016870",
  "step": 1371,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   957,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016870",
  "step": 1506,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   957,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016870",
  "step": 1626,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   957,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016870",
  "step": 1801,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   957,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016900",
  "step": 685,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1418
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +176 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016900",
  "step": 805,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1418
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.8 m away at +173 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016900",
  "step": 925,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1418
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.8 m away at +173 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016900",
  "step": 1568,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1396,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016900",
  "step": 1688,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1396,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016900",
  "step": 1808,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1396,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016900",
  "step": 1928,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1396,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016900",
  "step": 2048,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1396,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016900",
  "step": 2187,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1396,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016900",
  "step": 2307,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1396,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016900",
  "step": 2427,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1396,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016900",
  "step": 2559,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1396,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016920",
  "step": 507,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1492
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.3 m away at -159 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016920",
  "step": 627,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1492
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.5 m away at -117 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016920",
  "step": 930,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1492
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.3 m away at -138 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016920",
  "step": 1050,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1492
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.1 m away at -135 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016920",
  "step": 1183,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1492
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.1 m away at -135 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016920",
  "step": 1303,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1492
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.2 m away at -138 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016920",
  "step": 1642,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1468,
   5862
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016920",
  "step": 1762,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1468,
   5862
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016920",
  "step": 1882,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1468,
   5862
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016940",
  "step": 2896,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2836,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.4 m away at +122 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016940",
  "step": 3016,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2836,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.4 m away at +122 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016940",
  "step": 3136,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2836,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.4 m away at +122 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016940",
  "step": 3529,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2836,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.4 m away at +122 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016950",
  "step": 1141,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2571
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at +137 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016950",
  "step": 1261,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2571
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +123 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016950",
  "step": 1441,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2571
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +103 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016950",
  "step": 1796,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2571
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +93 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016950",
  "step": 1916,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2571
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +59 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016950",
  "step": 2188,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2571
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at -154 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016950",
  "step": 2308,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2571
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at -151 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016950",
  "step": 2428,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2571
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at -152 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016950",
  "step": 2721,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2547,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016950",
  "step": 2841,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2547,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016950",
  "step": 2961,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2547,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 5.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016950",
  "step": 3081,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2547,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 5.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016950",
  "step": 3201,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2547,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 5.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016960",
  "step": 1331,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3100
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 4.9 m away at +174 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016960",
  "step": 1451,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3100
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.2 m away at +159 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016960",
  "step": 1710,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3100
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 5.4 m away at -142 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016960",
  "step": 1830,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3100
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 5.4 m away at -129 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016960",
  "step": 1950,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3100
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 5.4 m away at +175 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016960",
  "step": 2193,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3100
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 5.4 m away at -176 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016960",
  "step": 2313,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3100
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 5.5 m away at -153 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016960",
  "step": 2531,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3100
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 5.6 m away at -170 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016960",
  "step": 2821,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3100
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 5.6 m away at -178 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016960",
  "step": 2941,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3100
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 5.6 m away at -178 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016960",
  "step": 3250,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3076,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 5.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016960",
  "step": 3370,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3076,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 5.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016960",
  "step": 3490,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3076,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 5.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016960",
  "step": 3610,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3076,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 5.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016980",
  "step": 888,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5405
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at -170 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016980",
  "step": 1008,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5405
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +140 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016980",
  "step": 1136,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5405
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +135 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016980",
  "step": 1256,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5405
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +156 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016980",
  "step": 1376,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5405
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at -157 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016980",
  "step": 2206,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5405
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +161 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016980",
  "step": 2485,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5405
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +139 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016980",
  "step": 2645,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5405
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +175 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016980",
  "step": 2765,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5405
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at -156 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016980",
  "step": 3918,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5405
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +96 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016980",
  "step": 5555,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5381,
   7999
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017010",
  "step": 3718,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3510,
   4515
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 1.2 m away at +150 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017010",
  "step": 3840,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3510,
   4515
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 1.2 m away at +150 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017010",
  "step": 4645,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   4515,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 1.2 m away at +151 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017020",
  "step": 7530,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7530,
   8162
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017020",
  "step": 7655,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7530,
   8162
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.24 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017020",
  "step": 7893,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7530,
   8162
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.13 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017020",
  "step": 8132,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7530,
   8162
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.03 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017020",
  "step": 4408,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4348,
   4643
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017020",
  "step": 4528,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4348,
   4643
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00017020",
  "step": 4773,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4643,
   6201
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00017020",
  "step": 4893,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4643,
   6201
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00017020",
  "step": 5013,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4643,
   6201
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00017020",
  "step": 5133,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4643,
   6201
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00017020",
  "step": 5264,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4643,
   6201
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00017020",
  "step": 5384,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4643,
   6201
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00017020",
  "step": 5674,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4643,
   6201
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.4 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00017020",
  "step": 5799,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4643,
   6201
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.4 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017020",
  "step": 6261,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6201,
   6794
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017020",
  "step": 6381,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6201,
   6794
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017020",
  "step": 6501,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6201,
   6794
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017020",
  "step": 6621,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6201,
   6794
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00017020",
  "step": 6924,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6794,
   8162
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00017020",
  "step": 7158,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6794,
   8162
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.4 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00017020",
  "step": 7321,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6794,
   8162
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.4 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00017020",
  "step": 7472,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6794,
   8162
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.4 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017030",
  "step": 1107,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2513
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.2 m away at +135 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017030",
  "step": 1227,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2513
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at -167 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017030",
  "step": 1347,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2513
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at +139 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017030",
  "step": 1482,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2513
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.5 m away at +172 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017030",
  "step": 1602,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2513
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at +131 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017030",
  "step": 1769,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2513
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at +110 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017030",
  "step": 1947,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2513
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at +159 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017030",
  "step": 2084,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2513
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at +161 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017030",
  "step": 2285,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2513
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.5 m away at +163 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017030",
  "step": 2663,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2489,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017050",
  "step": 1129,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2097
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +138 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017050",
  "step": 1341,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2097
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +122 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017050",
  "step": 1592,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2097
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at +116 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017050",
  "step": 1765,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2097
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.8 m away at +120 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017050",
  "step": 1886,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2097
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.8 m away at +122 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017050",
  "step": 2014,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2097
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.9 m away at +122 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017050",
  "step": 2247,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2073,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017050",
  "step": 2367,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2073,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017050",
  "step": 2487,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2073,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00017070",
  "step": 183,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   183,
   957
  ],
  "reason": "Nothing held; the ashcan is 0.80 m away on the robot's left (+49 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00017070",
  "step": 303,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   183,
   957
  ],
  "reason": "Nothing held; the ashcan is 0.63 m away on the robot's left (+33 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00017070",
  "step": 792,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   183,
   957
  ],
  "reason": "Nothing held; the ashcan is 0.60 m away on the robot's left (+33 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017070",
  "step": 1107,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   931,
   5643
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017070",
  "step": 1227,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   931,
   5643
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017070",
  "step": 1347,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   931,
   5643
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017070",
  "step": 1690,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   931,
   5643
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017070",
  "step": 1885,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   931,
   5643
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017070",
  "step": 2023,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   931,
   5643
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017070",
  "step": 2402,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   931,
   5643
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017070",
  "step": 3430,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   931,
   5643
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017070",
  "step": 3550,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   931,
   5643
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017070",
  "step": 3670,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   931,
   5643
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017070",
  "step": 4462,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   931,
   5643
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017080",
  "step": 60,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1761
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 1.1 m away at -132 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017080",
  "step": 180,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1761
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 1.3 m away at -176 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017080",
  "step": 300,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1761
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 1.3 m away at -171 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017080",
  "step": 488,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1761
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 1.3 m away at -157 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017080",
  "step": 959,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1761
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 1.5 m away at +179 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017080",
  "step": 1079,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1761
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 1.6 m away at -179 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017080",
  "step": 1911,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1737,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 1.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017080",
  "step": 2031,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1737,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 1.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017080",
  "step": 2151,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1737,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 1.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017080",
  "step": 2271,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1737,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 1.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017120",
  "step": 3071,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3011,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 2.1 m away at +115 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017160",
  "step": 3040,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2964,
   3301
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 2.5 m away at +150 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017160",
  "step": 3431,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   3301,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.5 m away at +150 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017170",
  "step": 4090,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at +91 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017170",
  "step": 5014,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.7 m away at +102 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017170",
  "step": 5143,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.6 m away at +91 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017180",
  "step": 4597,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4460,
   10163
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017180",
  "step": 4717,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4460,
   10163
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017180",
  "step": 5083,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4460,
   10163
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017180",
  "step": 6862,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4460,
   10163
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017180",
  "step": 7748,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4460,
   10163
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00017180",
  "step": 10293,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   10163,
   10536
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00017180",
  "step": 10413,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   10163,
   10536
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00017200",
  "step": 1534,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1534,
   1942
  ],
  "reason": "Nothing held; the ashcan is 0.54 m away on the robot's left (+5 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017200",
  "step": 2092,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1915,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017200",
  "step": 5148,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1915,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017200",
  "step": 5524,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1915,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017200",
  "step": 5729,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1915,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017200",
  "step": 5849,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1915,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017200",
  "step": 5969,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1915,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017200",
  "step": 6089,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1915,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017200",
  "step": 8101,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1915,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017200",
  "step": 8831,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1915,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017200",
  "step": 9838,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1915,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017200",
  "step": 10284,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1915,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00017200",
  "step": 10415,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1915,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017230",
  "step": 2209,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2197,
   3066
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.27 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017230",
  "step": 2359,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2197,
   3066
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.07 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017230",
  "step": 2464,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2197,
   3066
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017250",
  "step": 3420,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3211,
   4261
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 2.6 m away at +127 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017250",
  "step": 3663,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3211,
   4261
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 2.6 m away at +128 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017250",
  "step": 6436,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   4261,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.4 m away at +134 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017250",
  "step": 6783,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   4261,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.2 m away at +131 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017320",
  "step": 650,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1296
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +94 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017320",
  "step": 770,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1296
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +101 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017320",
  "step": 928,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1296
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +95 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017320",
  "step": 1060,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1296
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +96 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017320",
  "step": 1446,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1272,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017320",
  "step": 1566,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1272,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017320",
  "step": 1686,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1272,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017320",
  "step": 1821,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1272,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017320",
  "step": 2312,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1272,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017330",
  "step": 6218,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   7366
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.2 m away at -163 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017330",
  "step": 6338,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   7366
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.6 m away at -111 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017330",
  "step": 6476,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   7366
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.6 m away at -132 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017330",
  "step": 6682,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   7366
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.7 m away at -119 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017330",
  "step": 6986,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   7366
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.7 m away at -119 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017330",
  "step": 7106,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   7366
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.7 m away at -120 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017330",
  "step": 7516,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   7342,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 5.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017330",
  "step": 7636,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   7342,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017330",
  "step": 7756,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   7342,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017330",
  "step": 7887,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   7342,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017330",
  "step": 8007,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   7342,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017340",
  "step": 5310,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5250,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 2.7 m away at +73 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017340",
  "step": 5475,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5250,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 2.7 m away at +71 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017340",
  "step": 2135,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2100,
   3566
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.30 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017340",
  "step": 2255,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2100,
   3566
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.20 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017340",
  "step": 2637,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2100,
   3566
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017360",
  "step": 389,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   850
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.0 m away at +149 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017360",
  "step": 509,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   850
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.2 m away at +163 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017360",
  "step": 629,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   850
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.2 m away at +152 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017360",
  "step": 1000,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   826,
   10100
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017360",
  "step": 1120,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   826,
   10100
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 6.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017360",
  "step": 1240,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   826,
   10100
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 6.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017360",
  "step": 1360,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   826,
   10100
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 6.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017370",
  "step": 3309,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3249,
   6942
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 1.8 m away at +109 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017370",
  "step": 3584,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3249,
   6942
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.8 m away at +109 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017370",
  "step": 3792,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3249,
   6942
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.8 m away at +107 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017370",
  "step": 4101,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3249,
   6942
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.8 m away at +106 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017370",
  "step": 4338,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3249,
   6942
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.8 m away at +96 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017390",
  "step": 5483,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5334,
   6096
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 1.2 m away at +75 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017390",
  "step": 5603,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5334,
   6096
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 1.2 m away at +75 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017390",
  "step": 5773,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5334,
   6096
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 1.2 m away at +75 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017390",
  "step": 6226,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   6096,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 1.2 m away at +75 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017430",
  "step": 3500,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   3370,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 3.8 m away at -22 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017440",
  "step": 3161,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3085,
   3541
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 3.0 m away at +175 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017440",
  "step": 3671,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   3541,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 3.1 m away at +176 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017450",
  "step": 4301,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4301,
   4996
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017450",
  "step": 4421,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4301,
   4996
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017450",
  "step": 4541,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4301,
   4996
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017450",
  "step": 4705,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4301,
   4996
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.07 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017450",
  "step": 5056,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4996,
   5420
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017450",
  "step": 5176,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4996,
   5420
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017450",
  "step": 5296,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4996,
   5420
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017460",
  "step": 3973,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3903,
   4518
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 3.0 m away at +123 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017460",
  "step": 4221,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3903,
   4518
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 3.0 m away at +123 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017460",
  "step": 4648,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   4518,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.9 m away at +124 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017490",
  "step": 3158,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3098,
   3721
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 0.9 m away at +105 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017490",
  "step": 3371,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3098,
   3721
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.6 m away at +104 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017490",
  "step": 3851,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   3721,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 0.6 m away at +102 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017500",
  "step": 4239,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4059,
   5061
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.0 m away at -151 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017500",
  "step": 4359,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4059,
   5061
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.0 m away at -151 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017500",
  "step": 5191,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   5061,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 0.9 m away at -153 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017510",
  "step": 4805,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4745,
   5354
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017510",
  "step": 4925,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4745,
   5354
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017510",
  "step": 5045,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4745,
   5354
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017510",
  "step": 5165,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4745,
   5354
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017510",
  "step": 5285,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4745,
   5354
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017530",
  "step": 4800,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4690,
   5521
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 1.2 m away at +139 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017540",
  "step": 3893,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3802,
   4217
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 2.9 m away at +54 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017540",
  "step": 4347,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   4217,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.9 m away at +54 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017560",
  "step": 7780,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   7780,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017560",
  "step": 7900,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   7780,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017560",
  "step": 8020,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   7780,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.21 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017560",
  "step": 8140,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   7780,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.13 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017560",
  "step": 8551,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   7780,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017560",
  "step": 9423,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   7780,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017560",
  "step": 9747,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   7780,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.16 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017560",
  "step": 9867,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   7780,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.16 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017570",
  "step": 7414,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   7284,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 1.7 m away at +119 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017570",
  "step": 4641,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4641,
   6396
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017570",
  "step": 4761,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4641,
   6396
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.20 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017570",
  "step": 4881,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4641,
   6396
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.28 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017570",
  "step": 5001,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4641,
   6396
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.23 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017570",
  "step": 5661,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4641,
   6396
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.21 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017570",
  "step": 5859,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4641,
   6396
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017570",
  "step": 6153,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4641,
   6396
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.03 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00017570",
  "step": 4345,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4285,
   4473
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00017570",
  "step": 4603,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4473,
   6396
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017590",
  "step": 729,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1855
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +156 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017590",
  "step": 849,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1855
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +168 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017590",
  "step": 1042,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1855
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +169 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017590",
  "step": 1204,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1855
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at +167 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017590",
  "step": 2005,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1832,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017590",
  "step": 2125,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1832,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017590",
  "step": 2245,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1832,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017590",
  "step": 2365,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1832,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017590",
  "step": 2485,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1832,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 2.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017590",
  "step": 2605,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1832,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017590",
  "step": 2725,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1832,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017590",
  "step": 2845,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1832,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017590",
  "step": 4060,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1832,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017590",
  "step": 4180,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1832,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017590",
  "step": 4300,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1832,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017590",
  "step": 5059,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1832,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017590",
  "step": 5881,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1832,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017590",
  "step": 9392,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1832,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017590",
  "step": 9512,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1832,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017600",
  "step": 2282,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4705
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at +123 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017600",
  "step": 2402,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4705
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at +177 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017600",
  "step": 2522,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4705
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at -144 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017600",
  "step": 2645,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4705
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at -140 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017600",
  "step": 3028,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4705
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at -120 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017600",
  "step": 3230,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4705
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at -133 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017600",
  "step": 3640,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4705
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at -153 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017600",
  "step": 4855,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4681,
   9075
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017600",
  "step": 5020,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4681,
   9075
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017600",
  "step": 5465,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4681,
   9075
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017600",
  "step": 5585,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4681,
   9075
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017600",
  "step": 5705,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4681,
   9075
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017600",
  "step": 5825,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4681,
   9075
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017600",
  "step": 5945,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4681,
   9075
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017600",
  "step": 6065,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4681,
   9075
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017600",
  "step": 6185,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4681,
   9075
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017610",
  "step": 6883,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   6814,
   7462
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.1 m away at -177 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017610",
  "step": 7003,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   6814,
   7462
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.1 m away at -177 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017610",
  "step": 7647,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   7462,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 1.1 m away at -177 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017610",
  "step": 3796,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3796,
   6814
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017610",
  "step": 3916,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3796,
   6814
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.31 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017610",
  "step": 4261,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3796,
   6814
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017610",
  "step": 4409,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3796,
   6814
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.33 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017610",
  "step": 4529,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3796,
   6814
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017610",
  "step": 4669,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3796,
   6814
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017610",
  "step": 4852,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3796,
   6814
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017610",
  "step": 5068,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3796,
   6814
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.12 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017610",
  "step": 5464,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3796,
   6814
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.21 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017610",
  "step": 5584,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3796,
   6814
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017610",
  "step": 5845,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3796,
   6814
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017610",
  "step": 6303,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3796,
   6814
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.24 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017610",
  "step": 6423,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3796,
   6814
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.12 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017640",
  "step": 5163,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5103,
   5741
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.8 m away at -168 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017640",
  "step": 5283,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5103,
   5741
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.8 m away at -168 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017660",
  "step": 1355,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2186
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.2 m away at +169 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017660",
  "step": 1475,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2186
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.2 m away at -164 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017660",
  "step": 1704,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2186
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.4 m away at -165 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017660",
  "step": 1824,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2186
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.5 m away at -165 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017660",
  "step": 1962,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2186
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.5 m away at -165 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017660",
  "step": 2336,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2162,
   8537
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017660",
  "step": 2456,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2162,
   8537
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017660",
  "step": 2762,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2162,
   8537
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017660",
  "step": 2882,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2162,
   8537
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017660",
  "step": 3003,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2162,
   8537
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017660",
  "step": 3138,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2162,
   8537
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017660",
  "step": 3270,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2162,
   8537
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017660",
  "step": 3423,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2162,
   8537
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017660",
  "step": 3543,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2162,
   8537
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017660",
  "step": 3663,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2162,
   8537
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017660",
  "step": 3861,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2162,
   8537
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017660",
  "step": 4093,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2162,
   8537
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017660",
  "step": 4213,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2162,
   8537
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017660",
  "step": 4333,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2162,
   8537
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017660",
  "step": 4550,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2162,
   8537
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017670",
  "step": 3449,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3389,
   3880
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 2.3 m away at +145 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017670",
  "step": 4010,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   3880,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.3 m away at +137 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017680",
  "step": 540,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1449
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 0.9 m away at -164 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017680",
  "step": 660,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1449
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.4 m away at +174 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017680",
  "step": 806,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1449
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.4 m away at +163 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017680",
  "step": 926,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1449
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.4 m away at +163 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017680",
  "step": 1599,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1425,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017680",
  "step": 2204,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1425,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017680",
  "step": 3038,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1425,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017680",
  "step": 5347,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1425,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017680",
  "step": 6290,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1425,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017680",
  "step": 6635,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1425,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017680",
  "step": 7223,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1425,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017680",
  "step": 7513,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1425,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017680",
  "step": 8482,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1425,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017690",
  "step": 4690,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4615,
   5022
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.8 m away at -146 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017690",
  "step": 2367,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2350,
   4615
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017690",
  "step": 2487,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2350,
   4615
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.22 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017690",
  "step": 2607,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2350,
   4615
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017690",
  "step": 2797,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2350,
   4615
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017690",
  "step": 3225,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2350,
   4615
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017690",
  "step": 3648,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2350,
   4615
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.07 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017690",
  "step": 4244,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2350,
   4615
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017690",
  "step": 4364,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2350,
   4615
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.12 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017690",
  "step": 4507,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2350,
   4615
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.04 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017700",
  "step": 2896,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2836,
   3192
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 3.1 m away at +128 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017700",
  "step": 3322,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   3192,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 3.1 m away at +128 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017710",
  "step": 4951,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4845,
   5375
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.1 m away at +66 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017710",
  "step": 5505,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   5375,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 1.1 m away at +66 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017730",
  "step": 2936,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2855,
   3461
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 1.2 m away at +68 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017730",
  "step": 3056,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2855,
   3461
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 1.2 m away at +68 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017730",
  "step": 3591,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   3461,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 1.2 m away at +66 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017740",
  "step": 497,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1559
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.6 m away at -121 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017740",
  "step": 617,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1559
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.6 m away at -100 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017740",
  "step": 956,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1559
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.6 m away at -103 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017740",
  "step": 1076,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1559
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.3 m away at -123 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017740",
  "step": 1196,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1559
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.3 m away at -141 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017740",
  "step": 1352,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1559
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.2 m away at -139 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017740",
  "step": 1472,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1559
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.2 m away at -139 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017740",
  "step": 1709,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1535,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017740",
  "step": 1829,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1535,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017740",
  "step": 1949,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1535,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017740",
  "step": 2069,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1535,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017750",
  "step": 9212,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3287,
   9921
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.2 m away at +115 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017750",
  "step": 10051,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   9921,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 1.0 m away at +99 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017760",
  "step": 354,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   629
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at -151 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017760",
  "step": 474,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   629
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at -128 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017760",
  "step": 779,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   605,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017760",
  "step": 899,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   605,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017760",
  "step": 1019,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   605,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017760",
  "step": 1139,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   605,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017760",
  "step": 1259,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   605,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017780",
  "step": 1751,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5236
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +57 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017780",
  "step": 1871,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5236
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +76 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017780",
  "step": 1991,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5236
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +93 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017780",
  "step": 2816,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5236
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +133 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017780",
  "step": 2936,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5236
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at +179 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017780",
  "step": 3056,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5236
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at -165 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017780",
  "step": 3545,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5236
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.8 m away at +88 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017780",
  "step": 3737,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5236
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at -169 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017780",
  "step": 3924,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5236
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at -157 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017780",
  "step": 4485,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5236
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +154 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017780",
  "step": 5386,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5212,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017790",
  "step": 6342,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6258,
   9667
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 0.5 m away at +93 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017790",
  "step": 6462,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6258,
   9667
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 0.5 m away at +94 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017790",
  "step": 6673,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6258,
   9667
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.5 m away at +95 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017790",
  "step": 6793,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6258,
   9667
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.5 m away at +103 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017790",
  "step": 6955,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6258,
   9667
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.4 m away at +93 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017790",
  "step": 7075,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6258,
   9667
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.5 m away at +71 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017790",
  "step": 7195,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6258,
   9667
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.7 m away at +128 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017790",
  "step": 7320,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6258,
   9667
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.7 m away at +132 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017790",
  "step": 7440,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6258,
   9667
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.7 m away at +156 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017790",
  "step": 7560,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6258,
   9667
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.7 m away at +148 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017800",
  "step": 2742,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2682,
   3072
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.9 m away at -174 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017800",
  "step": 3202,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   3072,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 2.9 m away at -173 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017820",
  "step": 1195,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   8715
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +146 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017820",
  "step": 1432,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   8715
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at -152 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017820",
  "step": 1552,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   8715
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at -174 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017820",
  "step": 2183,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   8715
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at +91 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017820",
  "step": 2303,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   8715
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +155 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017820",
  "step": 2509,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   8715
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +84 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017820",
  "step": 2629,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   8715
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +127 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017820",
  "step": 2749,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   8715
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at -165 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017820",
  "step": 3000,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   8715
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at -129 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017830",
  "step": 4814,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4580,
   9144
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 1.7 m away at +109 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017830",
  "step": 4934,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4580,
   9144
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 1.7 m away at +109 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017830",
  "step": 5054,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4580,
   9144
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 1.7 m away at +109 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017830",
  "step": 5251,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4580,
   9144
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.7 m away at +109 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017830",
  "step": 5371,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4580,
   9144
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.8 m away at +139 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017830",
  "step": 5525,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4580,
   9144
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.8 m away at +149 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017830",
  "step": 5660,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4580,
   9144
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.6 m away at +145 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017830",
  "step": 5780,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4580,
   9144
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.3 m away at +115 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017830",
  "step": 5900,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4580,
   9144
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.4 m away at +75 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017830",
  "step": 6020,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4580,
   9144
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.7 m away at +91 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017840",
  "step": 3724,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   3594,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 2.1 m away at +38 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017850",
  "step": 4801,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4741,
   5601
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 0.9 m away at -163 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017850",
  "step": 4928,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4741,
   5601
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 0.9 m away at -163 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017850",
  "step": 5731,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   5601,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 0.9 m away at -144 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017860",
  "step": 1136,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1701
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 4.0 m away at +89 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017860",
  "step": 1256,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1701
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 4.0 m away at +119 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017860",
  "step": 1500,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1701
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.0 m away at +126 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017860",
  "step": 1851,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1677,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017860",
  "step": 2274,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1677,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017860",
  "step": 2625,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1677,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017860",
  "step": 2762,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1677,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017880",
  "step": 1395,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2077
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 4.9 m away at +115 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017880",
  "step": 1515,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2077
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.3 m away at +98 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017880",
  "step": 1635,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2077
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.3 m away at +97 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017880",
  "step": 2227,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2053,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 5.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017880",
  "step": 2347,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2053,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 5.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017890",
  "step": 5229,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5169,
   5658
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 3.3 m away at +131 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017890",
  "step": 5788,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   5658,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 3.3 m away at +131 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017890",
  "step": 2181,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2169,
   3309
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017890",
  "step": 2301,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2169,
   3309
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017890",
  "step": 2704,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2169,
   3309
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017890",
  "step": 3138,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2169,
   3309
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.04 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017920",
  "step": 3606,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3594,
   4863
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017920",
  "step": 3803,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3594,
   4863
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017920",
  "step": 4046,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3594,
   4863
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017920",
  "step": 4423,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3594,
   4863
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017930",
  "step": 4587,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4527,
   4902
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.0 m away at +162 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017930",
  "step": 5068,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   4902,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 1.0 m away at +161 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017940",
  "step": 2380,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2320,
   2690
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 1.6 m away at +87 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017940",
  "step": 2820,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   2690,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 1.6 m away at +87 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017970",
  "step": 1906,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   1902,
   4948
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017970",
  "step": 2390,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   1902,
   4948
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017970",
  "step": 3188,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   1902,
   4948
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.13 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017970",
  "step": 3812,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   1902,
   4948
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017970",
  "step": 4090,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   1902,
   4948
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017970",
  "step": 4295,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   1902,
   4948
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017980",
  "step": 6741,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   7719
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 0.6 m away at -52 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017980",
  "step": 6885,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   7719
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 0.6 m away at -56 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017980",
  "step": 7869,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   7695,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017980",
  "step": 7989,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   7695,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017980",
  "step": 8192,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   7695,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017980",
  "step": 8312,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   7695,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017980",
  "step": 8432,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   7695,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018050",
  "step": 3585,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   3455,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.0 m away at +100 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018060",
  "step": 529,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2579
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +105 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018060",
  "step": 649,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2579
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +82 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018060",
  "step": 802,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2579
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +63 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018060",
  "step": 922,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2579
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +124 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018060",
  "step": 1758,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2579
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.7 m away at +114 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018060",
  "step": 1878,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2579
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at +174 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018060",
  "step": 2166,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2579
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +136 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018060",
  "step": 2729,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2555,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018060",
  "step": 3887,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2555,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018060",
  "step": 4017,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2555,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018060",
  "step": 4137,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2555,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018060",
  "step": 4257,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2555,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018060",
  "step": 6652,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2555,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018060",
  "step": 7291,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2555,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018060",
  "step": 7683,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2555,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018060",
  "step": 7951,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2555,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018060",
  "step": 8090,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2555,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018060",
  "step": 8210,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2555,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018060",
  "step": 8330,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2555,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018060",
  "step": 8773,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2555,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018070",
  "step": 3390,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4202
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.9 m away at +108 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018070",
  "step": 3510,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4202
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.9 m away at +69 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018070",
  "step": 3630,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4202
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.9 m away at +87 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018070",
  "step": 3845,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4202
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.9 m away at +73 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018070",
  "step": 4044,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4202
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.9 m away at +69 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018070",
  "step": 4352,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4178,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018070",
  "step": 4472,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4178,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018070",
  "step": 4592,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4178,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018070",
  "step": 4712,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4178,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018070",
  "step": 4927,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4178,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018080",
  "step": 5194,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4627,
   6041
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 2.5 m away at +84 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018080",
  "step": 5314,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4627,
   6041
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 2.5 m away at +84 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018080",
  "step": 5506,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4627,
   6041
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.5 m away at +84 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018080",
  "step": 6189,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   6041,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 2.5 m away at +84 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018080",
  "step": 6656,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   6041,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 2.6 m away at +80 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018100",
  "step": 2367,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1595,
   8061
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018100",
  "step": 2520,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1595,
   8061
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018100",
  "step": 2812,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1595,
   8061
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018100",
  "step": 2932,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1595,
   8061
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018100",
  "step": 3052,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1595,
   8061
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018100",
  "step": 3172,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1595,
   8061
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018100",
  "step": 3411,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1595,
   8061
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018100",
  "step": 3572,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1595,
   8061
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018100",
  "step": 4021,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1595,
   8061
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018100",
  "step": 4184,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1595,
   8061
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018100",
  "step": 4304,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1595,
   8061
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018100",
  "step": 4466,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1595,
   8061
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018100",
  "step": 5710,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1595,
   8061
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018100",
  "step": 5830,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1595,
   8061
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018100",
  "step": 7510,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1595,
   8061
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018120",
  "step": 6892,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   6832,
   7822
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.9 m away at +125 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018120",
  "step": 7163,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   6832,
   7822
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 1.8 m away at +130 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018120",
  "step": 7283,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   6832,
   7822
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 1.7 m away at -161 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018120",
  "step": 7952,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   7822,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 1.8 m away at -149 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018140",
  "step": 2603,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2471,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 2.5 m away at +144 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018140",
  "step": 2723,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2471,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 2.5 m away at +144 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018140",
  "step": 2923,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2471,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 2.5 m away at +144 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018150",
  "step": 1513,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2003
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.4 m away at +29 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018150",
  "step": 2153,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1979,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018150",
  "step": 2273,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1979,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018150",
  "step": 2393,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1979,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 2.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018150",
  "step": 2513,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1979,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018150",
  "step": 2633,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1979,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018150",
  "step": 2753,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1979,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018150",
  "step": 2873,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1979,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018150",
  "step": 2993,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1979,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018150",
  "step": 3113,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1979,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018150",
  "step": 4692,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1979,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018150",
  "step": 4812,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1979,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018150",
  "step": 4932,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1979,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018150",
  "step": 5071,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1979,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018150",
  "step": 5191,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1979,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018150",
  "step": 5344,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1979,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018160",
  "step": 2800,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2735,
   7625
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 2.7 m away at +73 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018160",
  "step": 7755,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   7625,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 2.4 m away at +12 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018170",
  "step": 3793,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   7006
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at +173 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018170",
  "step": 6523,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   7006
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +133 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018170",
  "step": 6643,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   7006
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at +145 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018170",
  "step": 6789,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   7006
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at +145 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018170",
  "step": 7156,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   6982,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018170",
  "step": 7276,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   6982,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018170",
  "step": 7396,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   6982,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018170",
  "step": 7516,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   6982,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 6.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018170",
  "step": 7636,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   6982,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 6.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018170",
  "step": 7756,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   6982,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 6.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018180",
  "step": 60,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   482
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.1 m away at +79 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018180",
  "step": 180,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   482
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.1 m away at +81 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018180",
  "step": 300,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   482
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.1 m away at +73 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018180",
  "step": 632,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   458,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018180",
  "step": 752,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   458,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018180",
  "step": 872,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   458,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018180",
  "step": 992,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   458,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018180",
  "step": 1112,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   458,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018180",
  "step": 1232,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   458,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018180",
  "step": 1352,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   458,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018180",
  "step": 1472,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   458,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018180",
  "step": 1592,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   458,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00018190",
  "step": 60,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1262
  ],
  "reason": "Nothing held; the ashcan is 0.62 m away on the robot's left (+53 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00018190",
  "step": 229,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1262
  ],
  "reason": "Nothing held; the ashcan is 0.62 m away on the robot's left (+53 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00018190",
  "step": 683,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1262
  ],
  "reason": "Nothing held; the ashcan is 0.60 m away on the robot's left (+52 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018190",
  "step": 1412,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1235,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018190",
  "step": 4008,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1235,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018190",
  "step": 4710,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1235,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018190",
  "step": 4830,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1235,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018200",
  "step": 7634,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   7460,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.9 m away at -9 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018220",
  "step": 3973,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3775,
   4485
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 1.7 m away at +90 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018220",
  "step": 4615,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   4485,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 1.7 m away at +91 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018230",
  "step": 5048,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5034,
   6480
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.20 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018230",
  "step": 5196,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5034,
   6480
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018230",
  "step": 5346,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5034,
   6480
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018230",
  "step": 5656,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5034,
   6480
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018230",
  "step": 5960,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5034,
   6480
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018230",
  "step": 6080,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5034,
   6480
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.12 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018230",
  "step": 6387,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5034,
   6480
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.07 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018230",
  "step": 3510,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3498,
   3936
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.21 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018230",
  "step": 3630,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3498,
   3936
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018230",
  "step": 3811,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3498,
   3936
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018250",
  "step": 3939,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3819,
   4839
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.1 m away at +126 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018250",
  "step": 4124,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3819,
   4839
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 1.1 m away at +126 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018250",
  "step": 4271,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3819,
   4839
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 1.1 m away at +127 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018250",
  "step": 4669,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3819,
   4839
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 1.1 m away at +127 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018250",
  "step": 5406,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   4839,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 1.0 m away at +123 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018260",
  "step": 1470,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2601
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at +124 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018260",
  "step": 1590,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2601
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at +174 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018260",
  "step": 1710,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2601
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at +165 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018260",
  "step": 2111,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2601
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +135 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018260",
  "step": 2266,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2601
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +141 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018260",
  "step": 2386,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2601
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +141 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018260",
  "step": 2751,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018260",
  "step": 2871,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018260",
  "step": 2991,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018280",
  "step": 8395,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8362,
   8570
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.33 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018280",
  "step": 5214,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5214,
   8612
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018280",
  "step": 5334,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5214,
   8612
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.16 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018280",
  "step": 5697,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5214,
   8612
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.04 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018280",
  "step": 5830,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5214,
   8612
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018280",
  "step": 6161,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5214,
   8612
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.16 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018280",
  "step": 6338,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5214,
   8612
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.04 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018280",
  "step": 7021,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5214,
   8612
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018280",
  "step": 7847,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5214,
   8612
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.16 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018280",
  "step": 7982,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5214,
   8612
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018280",
  "step": 8185,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5214,
   8612
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018280",
  "step": 8409,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5214,
   8612
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.26 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018280",
  "step": 8582,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5214,
   8612
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.32 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00018280",
  "step": 4792,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4724,
   5039
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00018280",
  "step": 4912,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4724,
   5039
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00018280",
  "step": 5169,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5039,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00018280",
  "step": 8612,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5039,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.9 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00018280",
  "step": 8761,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5039,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.9 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00018280",
  "step": 9133,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5039,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.9 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00018280",
  "step": 9253,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5039,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.9 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00018280",
  "step": 9411,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5039,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.9 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00018280",
  "step": 9531,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5039,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.9 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00018280",
  "step": 9651,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5039,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.9 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00018280",
  "step": 9844,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5039,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.9 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00018280",
  "step": 10093,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5039,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.9 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018310",
  "step": 6824,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.5 m away at +132 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018340",
  "step": 362,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1375
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at +72 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018340",
  "step": 482,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1375
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.5 m away at +71 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018340",
  "step": 602,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1375
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.5 m away at +71 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018340",
  "step": 1525,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1352,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018340",
  "step": 1645,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1352,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018340",
  "step": 1765,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1352,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018350",
  "step": 627,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1753
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.3 m away at -178 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018350",
  "step": 747,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1753
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.7 m away at -131 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018350",
  "step": 867,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1753
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.7 m away at -158 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018350",
  "step": 1130,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1753
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.7 m away at -157 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018350",
  "step": 1903,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1729,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018360",
  "step": 4681,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4621,
   6741
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 4.0 m away at -28 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018360",
  "step": 4801,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4621,
   6741
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 4.0 m away at -28 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018360",
  "step": 6871,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   6741,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 0.3 m away at +36 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018380",
  "step": 290,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   980
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at +140 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018380",
  "step": 410,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   980
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +169 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018380",
  "step": 530,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   980
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at -164 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018380",
  "step": 651,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   980
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at -164 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018380",
  "step": 895,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   980
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at -170 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018380",
  "step": 1130,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   956,
   3675
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018380",
  "step": 1250,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   956,
   3675
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018380",
  "step": 1370,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   956,
   3675
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018380",
  "step": 1490,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   956,
   3675
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018380",
  "step": 1610,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   956,
   3675
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018380",
  "step": 1730,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   956,
   3675
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018380",
  "step": 1850,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   956,
   3675
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018380",
  "step": 1970,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   956,
   3675
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018380",
  "step": 2090,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   956,
   3675
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018380",
  "step": 2210,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   956,
   3675
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018380",
  "step": 2357,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   956,
   3675
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018380",
  "step": 2477,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   956,
   3675
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018380",
  "step": 2597,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   956,
   3675
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 1.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018380",
  "step": 2717,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   956,
   3675
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 1.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018380",
  "step": 2837,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   956,
   3675
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018390",
  "step": 237,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1721
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 0.1 m away at -140 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018390",
  "step": 761,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1721
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 0.1 m away at -140 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018390",
  "step": 938,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1721
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 0.1 m away at -140 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018390",
  "step": 1063,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1721
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 0.1 m away at -140 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018390",
  "step": 1269,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1721
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 0.1 m away at -140 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018390",
  "step": 1399,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1721
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 0.1 m away at -140 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018390",
  "step": 1881,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1697,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018390",
  "step": 2312,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1697,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018390",
  "step": 2432,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1697,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018390",
  "step": 2555,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1697,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018390",
  "step": 2687,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1697,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018390",
  "step": 5331,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1697,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018390",
  "step": 5451,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1697,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018390",
  "step": 5571,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1697,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018390",
  "step": 5693,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1697,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018390",
  "step": 5826,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1697,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 0.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018420",
  "step": 513,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at -172 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018420",
  "step": 701,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at -135 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018430",
  "step": 3894,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3834,
   4381
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.4 m away at -168 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018430",
  "step": 4014,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3834,
   4381
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.4 m away at -168 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018430",
  "step": 4511,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   4381,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 1.3 m away at -169 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018440",
  "step": 778,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1602
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at +106 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018440",
  "step": 898,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1602
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +136 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018440",
  "step": 1018,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1602
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +136 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018440",
  "step": 1148,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1602
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +141 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018440",
  "step": 1752,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1578,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018440",
  "step": 1872,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1578,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018440",
  "step": 1992,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1578,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018440",
  "step": 2112,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1578,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018440",
  "step": 2232,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1578,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018440",
  "step": 2361,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1578,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018440",
  "step": 2901,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1578,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018440",
  "step": 3055,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1578,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018440",
  "step": 3281,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1578,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018440",
  "step": 3762,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1578,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018440",
  "step": 4357,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1578,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018440",
  "step": 4477,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1578,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018440",
  "step": 4652,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1578,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018460",
  "step": 553,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1422
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.5 m away at +151 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018460",
  "step": 673,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1422
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at -173 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018460",
  "step": 793,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1422
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at -173 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018460",
  "step": 1014,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1422
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at -174 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018460",
  "step": 1572,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1398,
   2970
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018460",
  "step": 1692,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1398,
   2970
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018460",
  "step": 1812,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1398,
   2970
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018460",
  "step": 1932,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1398,
   2970
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 5.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018460",
  "step": 2052,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1398,
   2970
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 5.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018460",
  "step": 2184,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1398,
   2970
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 5.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018460",
  "step": 2517,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1398,
   2970
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 5.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018470",
  "step": 4072,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   3942,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 1.7 m away at -150 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018480",
  "step": 424,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1395
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +101 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018480",
  "step": 544,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1395
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +161 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018480",
  "step": 664,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1395
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +120 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018480",
  "step": 784,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1395
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +131 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018480",
  "step": 904,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1395
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +131 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018480",
  "step": 1033,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1395
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +132 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018480",
  "step": 1545,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018480",
  "step": 1665,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018480",
  "step": 1785,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018480",
  "step": 1905,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018480",
  "step": 2025,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 5.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018480",
  "step": 2145,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 5.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018480",
  "step": 2265,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 5.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018480",
  "step": 2385,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018480",
  "step": 2505,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018480",
  "step": 2625,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018480",
  "step": 2745,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018480",
  "step": 2865,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018480",
  "step": 2985,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018480",
  "step": 3105,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018480",
  "step": 3225,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018500",
  "step": 1977,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 4.9 m away at +64 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018500",
  "step": 2097,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.0 m away at +72 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018500",
  "step": 2217,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.3 m away at +66 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018500",
  "step": 2337,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.3 m away at +6 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018500",
  "step": 3739,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +80 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018500",
  "step": 4133,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +86 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018500",
  "step": 4326,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +87 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018500",
  "step": 4653,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +85 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018510",
  "step": 4553,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3352,
   5100
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 3.5 m away at +50 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018510",
  "step": 5230,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   5100,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 3.2 m away at -16 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018520",
  "step": 4777,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4696,
   5401
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 1.3 m away at -166 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018520",
  "step": 5531,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   5401,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 1.3 m away at -166 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00018530",
  "step": 1869,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1869,
   2882
  ],
  "reason": "Nothing held; the ashcan is 0.80 m away on the robot's left (+25 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00018530",
  "step": 2088,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1869,
   2882
  ],
  "reason": "Nothing held; the ashcan is 0.46 m away on the robot's left (+10 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00018530",
  "step": 2736,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1869,
   2882
  ],
  "reason": "Nothing held; the ashcan is 0.45 m away on the robot's left (+9 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018530",
  "step": 3032,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2856,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018530",
  "step": 5437,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2856,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018530",
  "step": 5690,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2856,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018530",
  "step": 7242,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2856,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018530",
  "step": 8729,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2856,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018530",
  "step": 9310,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2856,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018580",
  "step": 4366,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4161,
   5473
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.6 m away at -118 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018580",
  "step": 4486,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4161,
   5473
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.6 m away at -118 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018580",
  "step": 4671,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4161,
   5473
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.6 m away at -127 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018580",
  "step": 5606,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   5473,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 2.7 m away at -139 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018580",
  "step": 3093,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3093,
   4161
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018580",
  "step": 3213,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3093,
   4161
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.19 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018580",
  "step": 3333,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3093,
   4161
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.21 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018580",
  "step": 3585,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3093,
   4161
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018580",
  "step": 3807,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3093,
   4161
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.03 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018580",
  "step": 3899,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3093,
   4161
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018590",
  "step": 3449,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3437,
   4463
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.16 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018590",
  "step": 3596,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3437,
   4463
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018590",
  "step": 3946,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3437,
   4463
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.16 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018590",
  "step": 4101,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3437,
   4463
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.21 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018590",
  "step": 4221,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3437,
   4463
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.12 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018590",
  "step": 5903,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5903,
   6620
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018590",
  "step": 6023,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5903,
   6620
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.29 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018590",
  "step": 6399,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5903,
   6620
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018590",
  "step": 6549,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5903,
   6620
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.04 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00018590",
  "step": 4535,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4463,
   5710
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00018590",
  "step": 4655,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4463,
   5710
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00018590",
  "step": 4775,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4463,
   5710
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00018590",
  "step": 4895,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4463,
   5710
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00018590",
  "step": 5098,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4463,
   5710
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00018590",
  "step": 5504,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4463,
   5710
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00018590",
  "step": 5840,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5710,
   6620
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018600",
  "step": 5796,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5736,
   6200
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 3.6 m away at +148 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018600",
  "step": 6361,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   6200,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 3.6 m away at +148 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018610",
  "step": 7531,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7471,
   8381
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 2.6 m away at -168 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018610",
  "step": 7651,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7471,
   8381
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 2.6 m away at -168 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018610",
  "step": 7882,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7471,
   8381
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 2.6 m away at +169 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018610",
  "step": 8002,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7471,
   8381
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 2.6 m away at +169 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018610",
  "step": 8511,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   8381,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.6 m away at +125 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018640",
  "step": 2127,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2067,
   2534
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 2.7 m away at +177 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018640",
  "step": 2247,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2067,
   2534
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 2.7 m away at +177 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018640",
  "step": 2664,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   2534,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.7 m away at +178 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018650",
  "step": 6569,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6491,
   9502
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.0 m away at +68 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018650",
  "step": 6689,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6491,
   9502
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.0 m away at +68 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018650",
  "step": 7162,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6491,
   9502
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.3 m away at -97 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016890",
  "step": 5018,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4958,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 3.3 m away at +176 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016890",
  "step": 5161,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4958,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 3.3 m away at +176 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018660",
  "step": 4230,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5460
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +178 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018660",
  "step": 4350,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5460
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at +172 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018660",
  "step": 4753,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5460
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.8 m away at +171 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018660",
  "step": 5610,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5435,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018660",
  "step": 5730,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5435,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018660",
  "step": 5850,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5435,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018660",
  "step": 5970,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5435,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 5.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018660",
  "step": 6090,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5435,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 5.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018660",
  "step": 6210,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5435,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018660",
  "step": 6330,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5435,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018660",
  "step": 6450,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5435,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018660",
  "step": 6570,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5435,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018660",
  "step": 6690,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5435,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018670",
  "step": 3167,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3069,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 0.7 m away at +71 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018670",
  "step": 3287,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3069,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 0.7 m away at +72 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018670",
  "step": 5123,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3069,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.6 m away at +117 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018670",
  "step": 5243,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3069,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.6 m away at +108 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018670",
  "step": 5395,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3069,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.7 m away at +115 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018670",
  "step": 5541,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3069,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.7 m away at +120 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018670",
  "step": 5661,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3069,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.7 m away at +104 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018670",
  "step": 5786,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3069,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.7 m away at +104 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018680",
  "step": 3285,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3225,
   3901
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 2.1 m away at -153 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018680",
  "step": 3530,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3225,
   3901
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.1 m away at -158 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018680",
  "step": 4031,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   3901,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 2.1 m away at -156 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018690",
  "step": 658,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1358
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +169 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018690",
  "step": 778,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1358
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +174 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018690",
  "step": 1059,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1358
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +173 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018690",
  "step": 1508,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1334,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018690",
  "step": 1628,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1334,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018690",
  "step": 1748,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1334,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018690",
  "step": 1868,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1334,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018690",
  "step": 1988,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1334,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018690",
  "step": 2108,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1334,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018690",
  "step": 2228,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1334,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018690",
  "step": 2348,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1334,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018690",
  "step": 4991,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1334,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018690",
  "step": 5111,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1334,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018690",
  "step": 5231,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1334,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018690",
  "step": 5351,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1334,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018690",
  "step": 5863,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1334,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018690",
  "step": 6047,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1334,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018690",
  "step": 6215,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1334,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018710",
  "step": 3724,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3526,
   4340
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 1.2 m away at -97 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018710",
  "step": 4908,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   4340,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 1.3 m away at -98 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018720",
  "step": 1008,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1645
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +127 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018720",
  "step": 1128,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1645
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +129 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018720",
  "step": 1248,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1645
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +145 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018720",
  "step": 1399,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1645
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +142 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018720",
  "step": 1795,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1621,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018720",
  "step": 1915,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1621,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 5.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018720",
  "step": 2035,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1621,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 5.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018730",
  "step": 605,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1319
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.7 m away at +95 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018730",
  "step": 725,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1319
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.5 m away at +119 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018730",
  "step": 951,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1319
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at +113 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018730",
  "step": 1071,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1319
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at +109 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018730",
  "step": 1191,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1319
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at +109 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018730",
  "step": 1469,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1295,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 2.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018730",
  "step": 1589,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1295,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 2.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018730",
  "step": 1709,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1295,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 2.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018730",
  "step": 1829,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1295,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 2.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018750",
  "step": 625,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1137
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.3 m away at +178 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018750",
  "step": 745,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1137
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.8 m away at -166 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018750",
  "step": 882,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1137
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.8 m away at -166 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018750",
  "step": 1021,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1137
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.8 m away at -166 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018750",
  "step": 1287,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1113,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018750",
  "step": 2691,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1113,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018750",
  "step": 2811,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1113,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018750",
  "step": 2955,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1113,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018750",
  "step": 3075,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1113,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018750",
  "step": 3212,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1113,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018760",
  "step": 3152,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2995,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.1 m away at +168 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018760",
  "step": 3272,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2995,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.1 m away at +168 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018770",
  "step": 7325,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7139,
   8240
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.5 m away at -80 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018770",
  "step": 7590,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7139,
   8240
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 1.5 m away at -80 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018780",
  "step": 3245,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3185,
   3855
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 0.9 m away at +78 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018780",
  "step": 3985,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   3855,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 0.8 m away at +70 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018840",
  "step": 6426,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6358,
   6756
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 1.8 m away at +63 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018840",
  "step": 6886,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   6756,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 1.8 m away at +65 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018850",
  "step": 1575,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   1561,
   2366
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.19 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018850",
  "step": 1695,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   1561,
   2366
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.18 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018850",
  "step": 2048,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   1561,
   2366
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018850",
  "step": 8439,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   8439,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018850",
  "step": 8559,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   8439,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.24 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018850",
  "step": 8679,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   8439,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.16 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018850",
  "step": 8921,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   8439,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018850",
  "step": 9041,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   8439,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018850",
  "step": 9371,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   8439,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018850",
  "step": 9721,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   8439,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018850",
  "step": 9989,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   8439,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018850",
  "step": 10197,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   8439,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.29 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018870",
  "step": 6121,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6109,
   7278
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018870",
  "step": 6241,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6109,
   7278
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018870",
  "step": 6424,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6109,
   7278
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018870",
  "step": 7247,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6109,
   7278
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.02 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018880",
  "step": 60,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1216
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.3 m away at -153 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018880",
  "step": 180,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1216
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.3 m away at -91 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018880",
  "step": 300,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1216
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.6 m away at -90 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018880",
  "step": 420,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1216
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.6 m away at -90 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018880",
  "step": 1366,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1192,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 5.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018880",
  "step": 1486,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1192,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018880",
  "step": 1606,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1192,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018880",
  "step": 1726,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1192,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00018900",
  "step": 5753,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5693,
   6230
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00018900",
  "step": 5873,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5693,
   6230
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00018900",
  "step": 5993,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5693,
   6230
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00018900",
  "step": 6113,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5693,
   6230
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00018900",
  "step": 6360,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6230,
   6742
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018910",
  "step": 9062,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   8932,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.2 m away at +106 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018940",
  "step": 4833,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4599,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 1.4 m away at +112 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018940",
  "step": 4953,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4599,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 1.4 m away at +112 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018940",
  "step": 5116,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4599,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 1.3 m away at +96 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018940",
  "step": 5715,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5698,
   9254
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018940",
  "step": 5864,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5698,
   9254
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018940",
  "step": 6357,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5698,
   9254
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.07 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018940",
  "step": 6851,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5698,
   9254
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018940",
  "step": 6971,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5698,
   9254
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.13 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018940",
  "step": 7091,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5698,
   9254
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.17 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018940",
  "step": 7378,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5698,
   9254
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018940",
  "step": 7539,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5698,
   9254
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018940",
  "step": 7857,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5698,
   9254
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.22 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018940",
  "step": 7977,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5698,
   9254
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.21 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018940",
  "step": 8204,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5698,
   9254
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.20 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018940",
  "step": 8341,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5698,
   9254
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.25 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018940",
  "step": 8461,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5698,
   9254
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.26 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018940",
  "step": 8587,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5698,
   9254
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.25 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018940",
  "step": 8707,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5698,
   9254
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.19 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018940",
  "step": 8827,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5698,
   9254
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_113 lies on its side 0.24 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018960",
  "step": 6359,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6299,
   9244
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 2.5 m away at +141 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018960",
  "step": 6479,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6299,
   9244
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 2.5 m away at +141 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018960",
  "step": 6723,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6299,
   9244
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.4 m away at +139 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018960",
  "step": 6843,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6299,
   9244
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.4 m away at +96 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018960",
  "step": 7097,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6299,
   9244
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.3 m away at -50 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018960",
  "step": 7217,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6299,
   9244
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.6 m away at -140 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018960",
  "step": 7337,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6299,
   9244
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.6 m away at +164 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018960",
  "step": 7457,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6299,
   9244
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.5 m away at +103 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018960",
  "step": 7687,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6299,
   9244
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.3 m away at -51 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018960",
  "step": 7807,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6299,
   9244
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.9 m away at -131 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018970",
  "step": 96,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1176
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.8 m away at -88 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018970",
  "step": 216,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1176
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.8 m away at -89 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018970",
  "step": 669,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1176
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +70 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018970",
  "step": 789,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1176
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +101 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018970",
  "step": 909,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1176
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +101 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018970",
  "step": 1058,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1176
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +104 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018970",
  "step": 1326,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1152,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018970",
  "step": 1446,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1152,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018970",
  "step": 1566,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1152,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018980",
  "step": 1000,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1650
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +151 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018980",
  "step": 1120,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1650
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +165 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018980",
  "step": 1261,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1650
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at +166 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018980",
  "step": 1381,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1650
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.8 m away at +166 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018980",
  "step": 1800,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1626,
   5750
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018980",
  "step": 1920,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1626,
   5750
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018980",
  "step": 3031,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1626,
   5750
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018980",
  "step": 3151,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1626,
   5750
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018980",
  "step": 3271,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1626,
   5750
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018980",
  "step": 3391,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1626,
   5750
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018980",
  "step": 3762,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1626,
   5750
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019000",
  "step": 2518,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3144
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.5 m away at +64 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019000",
  "step": 2638,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3144
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at +78 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019000",
  "step": 2888,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   3144
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at +78 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019000",
  "step": 3294,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3120,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019000",
  "step": 3414,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3120,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019000",
  "step": 3534,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3120,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019000",
  "step": 3654,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3120,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019000",
  "step": 8509,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3120,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019000",
  "step": 8629,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3120,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019000",
  "step": 8749,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3120,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019000",
  "step": 8869,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3120,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019000",
  "step": 9018,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3120,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019000",
  "step": 9167,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3120,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019000",
  "step": 9287,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3120,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019000",
  "step": 9536,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   3120,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00019020",
  "step": 410,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   410,
   2823
  ],
  "reason": "Nothing held; the ashcan is 0.49 m away on the robot's left (+90 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00019020",
  "step": 530,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   410,
   2823
  ],
  "reason": "Nothing held; the ashcan is 0.48 m away on the robot's left (+46 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00019020",
  "step": 650,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   410,
   2823
  ],
  "reason": "Nothing held; the ashcan is 0.48 m away on the robot's left (+45 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00019020",
  "step": 1381,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   410,
   2823
  ],
  "reason": "Nothing held; the ashcan is 0.48 m away on the robot's left (+48 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019020",
  "step": 2973,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2777,
   6861
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019020",
  "step": 3093,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2777,
   6861
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019020",
  "step": 3219,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2777,
   6861
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019020",
  "step": 3339,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2777,
   6861
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019020",
  "step": 3459,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2777,
   6861
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019020",
  "step": 3579,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2777,
   6861
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019020",
  "step": 3699,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2777,
   6861
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019020",
  "step": 4083,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2777,
   6861
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019020",
  "step": 4360,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2777,
   6861
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019020",
  "step": 4618,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2777,
   6861
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019020",
  "step": 4738,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2777,
   6861
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019020",
  "step": 4858,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2777,
   6861
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019020",
  "step": 4978,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2777,
   6861
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019020",
  "step": 5173,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2777,
   6861
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019030",
  "step": 334,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1476
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +68 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019030",
  "step": 492,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1476
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +50 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019030",
  "step": 612,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1476
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +62 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019030",
  "step": 848,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1476
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +59 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019030",
  "step": 968,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1476
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +59 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019030",
  "step": 1626,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1452,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019030",
  "step": 1746,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1452,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019030",
  "step": 1866,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1452,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019030",
  "step": 1986,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1452,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019040",
  "step": 4004,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   3874,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 1.9 m away at +30 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019060",
  "step": 751,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1395
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.8 m away at +165 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019060",
  "step": 871,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1395
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.1 m away at +164 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019060",
  "step": 1088,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1395
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.1 m away at +164 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019060",
  "step": 1215,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1395
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.2 m away at +164 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019060",
  "step": 1545,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019060",
  "step": 1665,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019060",
  "step": 1785,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019060",
  "step": 1905,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019060",
  "step": 2025,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019060",
  "step": 2145,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019060",
  "step": 2265,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1371,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019070",
  "step": 805,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1621
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at +79 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019070",
  "step": 925,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1621
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.8 m away at +73 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019070",
  "step": 1214,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1621
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.8 m away at +73 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019070",
  "step": 1334,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1621
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.8 m away at +70 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019070",
  "step": 1771,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1597,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019070",
  "step": 1891,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1597,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019070",
  "step": 2011,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1597,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019070",
  "step": 2137,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1597,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019070",
  "step": 2257,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1597,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019070",
  "step": 2377,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1597,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019070",
  "step": 2560,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1597,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019070",
  "step": 3189,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1597,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019070",
  "step": 3496,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1597,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019070",
  "step": 3657,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1597,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019080",
  "step": 3765,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   3635,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 2.6 m away at -160 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019090",
  "step": 4219,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4208,
   10011
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.17 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019090",
  "step": 4399,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4208,
   10011
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019090",
  "step": 4564,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4208,
   10011
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019090",
  "step": 5832,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4208,
   10011
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.13 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019090",
  "step": 6223,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4208,
   10011
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019090",
  "step": 6645,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4208,
   10011
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019090",
  "step": 6765,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4208,
   10011
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019090",
  "step": 6953,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4208,
   10011
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.25 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019090",
  "step": 7239,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4208,
   10011
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.24 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019090",
  "step": 7432,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4208,
   10011
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.21 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019090",
  "step": 7552,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4208,
   10011
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.25 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019090",
  "step": 7672,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4208,
   10011
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.30 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019090",
  "step": 7796,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4208,
   10011
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.23 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019090",
  "step": 7944,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4208,
   10011
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.32 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019090",
  "step": 8105,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4208,
   10011
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.30 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019090",
  "step": 8239,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4208,
   10011
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.25 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019090",
  "step": 8421,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4208,
   10011
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.18 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019100",
  "step": 2162,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2102,
   3517
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 3.4 m away at +120 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019100",
  "step": 2282,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2102,
   3517
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 3.4 m away at +120 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019100",
  "step": 3647,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   3517,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 2.7 m away at -1 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019120",
  "step": 3457,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3434,
   6785
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.20 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019120",
  "step": 4393,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3434,
   6785
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.12 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019120",
  "step": 4550,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3434,
   6785
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019120",
  "step": 4907,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3434,
   6785
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.22 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019120",
  "step": 5105,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3434,
   6785
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019120",
  "step": 6324,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3434,
   6785
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019130",
  "step": 475,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1926
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at +123 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019130",
  "step": 595,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1926
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +177 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019130",
  "step": 743,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1926
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.2 m away at +177 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019130",
  "step": 863,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1926
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.3 m away at +178 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019130",
  "step": 2076,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1902,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019130",
  "step": 2196,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1902,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019130",
  "step": 2316,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1902,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019130",
  "step": 2487,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1902,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019130",
  "step": 2622,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1902,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019130",
  "step": 2742,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1902,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019130",
  "step": 2892,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1902,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019130",
  "step": 3012,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1902,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019130",
  "step": 3258,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1902,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019140",
  "step": 5041,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5029,
   9186
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.20 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019140",
  "step": 5204,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5029,
   9186
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019140",
  "step": 5704,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5029,
   9186
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.04 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019140",
  "step": 6214,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5029,
   9186
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019140",
  "step": 6334,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5029,
   9186
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019140",
  "step": 7922,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5029,
   9186
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019140",
  "step": 8305,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5029,
   9186
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019140",
  "step": 9067,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5029,
   9186
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_115 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019150",
  "step": 4320,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4140,
   4880
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 1.0 m away at -158 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019150",
  "step": 4440,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4140,
   4880
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 1.0 m away at -158 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019150",
  "step": 5010,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   4880,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 1.0 m away at -158 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019160",
  "step": 2430,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2362,
   3000
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 2.1 m away at +116 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019160",
  "step": 3130,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   3000,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 2.1 m away at +117 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019170",
  "step": 940,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1517
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.7 m away at +88 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019170",
  "step": 1060,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1517
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.5 m away at +79 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019170",
  "step": 1180,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1517
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.3 m away at +106 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019170",
  "step": 1318,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1517
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.2 m away at +112 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019170",
  "step": 1667,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1494,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019170",
  "step": 1787,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1494,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019170",
  "step": 1907,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1494,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019170",
  "step": 2027,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1494,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019230",
  "step": 3040,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2500,
   4617
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 2.2 m away at +133 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019230",
  "step": 3229,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2500,
   4617
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 2.2 m away at +133 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019230",
  "step": 3470,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2500,
   4617
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.2 m away at +134 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019230",
  "step": 3590,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2500,
   4617
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.3 m away at +121 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019230",
  "step": 3710,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2500,
   4617
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.1 m away at +94 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019230",
  "step": 4747,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   4617,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 2.1 m away at +91 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019240",
  "step": 3887,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3433,
   4441
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.3 m away at +112 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019240",
  "step": 4031,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3433,
   4441
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.3 m away at +112 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019240",
  "step": 4151,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3433,
   4441
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.4 m away at +120 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019240",
  "step": 4271,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3433,
   4441
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.6 m away at +128 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019240",
  "step": 4571,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   4441,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 2.6 m away at +121 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019250",
  "step": 4144,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 0.5 m away at +133 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019250",
  "step": 4283,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 0.4 m away at +135 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019250",
  "step": 6087,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 0.5 m away at +106 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019260",
  "step": 4231,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   4101,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 1.5 m away at -11 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019270",
  "step": 639,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 1.7 m away at +169 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019270",
  "step": 2561,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 1.8 m away at +127 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019270",
  "step": 3087,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 1.9 m away at +163 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019290",
  "step": 858,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2075
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at +146 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019290",
  "step": 1576,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2075
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 4.1 m away at +65 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019290",
  "step": 1719,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2075
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 4.1 m away at +72 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019290",
  "step": 1839,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2075
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 4.1 m away at +72 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019290",
  "step": 2225,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2052,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019290",
  "step": 2345,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2052,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019290",
  "step": 2465,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2052,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019290",
  "step": 2585,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2052,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019290",
  "step": 2705,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2052,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019290",
  "step": 2825,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2052,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019290",
  "step": 2945,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2052,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019290",
  "step": 3065,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2052,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019290",
  "step": 3185,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2052,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019290",
  "step": 3404,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2052,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019290",
  "step": 3547,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2052,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019290",
  "step": 3667,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2052,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019290",
  "step": 3833,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2052,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019290",
  "step": 3953,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2052,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019290",
  "step": 4104,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2052,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019300",
  "step": 3667,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4360
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at +105 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019300",
  "step": 3984,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4360
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 4.8 m away at +70 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019300",
  "step": 4104,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4360
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 4.7 m away at +57 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019300",
  "step": 4510,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4336,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019300",
  "step": 4755,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4336,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019300",
  "step": 4967,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4336,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019300",
  "step": 5211,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4336,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019300",
  "step": 5365,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4336,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019300",
  "step": 5485,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4336,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 5.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019300",
  "step": 5605,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4336,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019300",
  "step": 5725,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4336,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019300",
  "step": 5845,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4336,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019300",
  "step": 5965,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4336,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019300",
  "step": 6085,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4336,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019310",
  "step": 3570,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2764,
   7749
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 3.6 m away at +50 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019310",
  "step": 3926,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2764,
   7749
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 3.5 m away at +50 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019310",
  "step": 4046,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2764,
   7749
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 3.5 m away at +56 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019310",
  "step": 4188,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2764,
   7749
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 3.5 m away at +63 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019310",
  "step": 4317,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2764,
   7749
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 3.3 m away at +53 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019310",
  "step": 4563,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2764,
   7749
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 3.4 m away at +62 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019330",
  "step": 8832,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3017,
   10074
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 2.8 m away at +91 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019330",
  "step": 8997,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3017,
   10074
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 2.8 m away at +91 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019330",
  "step": 9270,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3017,
   10074
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 2.6 m away at +83 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019340",
  "step": 5122,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   4992,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 1.7 m away at +138 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019350",
  "step": 1818,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   1758,
   2221
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 0.9 m away at +115 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019350",
  "step": 2351,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   2221,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 0.9 m away at +117 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019360",
  "step": 72,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2761
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.3 m away at +101 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019360",
  "step": 1107,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2761
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at +50 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019360",
  "step": 2911,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2737,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019360",
  "step": 3031,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2737,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019360",
  "step": 3151,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2737,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019360",
  "step": 3271,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2737,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019360",
  "step": 3391,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2737,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019360",
  "step": 3511,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2737,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019360",
  "step": 3631,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2737,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019360",
  "step": 3751,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2737,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019360",
  "step": 3871,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2737,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019360",
  "step": 3991,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2737,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019360",
  "step": 4111,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2737,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019360",
  "step": 4231,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2737,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019380",
  "step": 3650,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3590,
   3921
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 2.0 m away at +101 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019380",
  "step": 4051,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   3921,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.0 m away at +103 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019400",
  "step": 2923,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2858,
   3427
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.0 m away at +84 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019400",
  "step": 3557,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   3427,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 2.0 m away at +84 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019410",
  "step": 4674,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3698,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 2.8 m away at -50 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019410",
  "step": 4794,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3698,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 2.7 m away at -95 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019410",
  "step": 5048,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3698,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 2.7 m away at -95 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019410",
  "step": 10130,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   10130,
   10413
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019410",
  "step": 10331,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   10130,
   10413
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019430",
  "step": 244,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 0.8 m away at -166 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019430",
  "step": 380,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 0.8 m away at -159 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019430",
  "step": 500,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 1.0 m away at -164 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019430",
  "step": 630,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 1.1 m away at +171 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019430",
  "step": 750,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 1.4 m away at +160 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019430",
  "step": 933,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 1.2 m away at +143 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019430",
  "step": 1065,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 1.5 m away at +138 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019430",
  "step": 1328,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 1.7 m away at +120 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019430",
  "step": 1724,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 1.2 m away at +172 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019430",
  "step": 1861,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 1.1 m away at +139 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019430",
  "step": 9452,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   9452,
   10536
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019430",
  "step": 9699,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   9452,
   10536
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.18 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019430",
  "step": 9964,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   9452,
   10536
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00019440",
  "step": 501,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   501,
   2277
  ],
  "reason": "Nothing held; the ashcan is 0.65 m away on the robot's left (+10 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00019440",
  "step": 621,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   501,
   2277
  ],
  "reason": "Nothing held; the ashcan is 0.42 m away on the robot's left (+16 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00019440",
  "step": 885,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   501,
   2277
  ],
  "reason": "Nothing held; the ashcan is 0.42 m away on the robot's left (+16 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019440",
  "step": 2427,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2252,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019440",
  "step": 2547,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2252,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019440",
  "step": 3447,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2252,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019440",
  "step": 3599,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2252,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019440",
  "step": 3736,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2252,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019440",
  "step": 4210,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2252,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019440",
  "step": 4330,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2252,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019440",
  "step": 4450,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2252,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019440",
  "step": 4826,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2252,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019450",
  "step": 5765,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4256,
   7905
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 1.7 m away at +55 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019450",
  "step": 5914,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4256,
   7905
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 1.7 m away at +55 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019450",
  "step": 6285,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4256,
   7905
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 1.7 m away at +55 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019450",
  "step": 6876,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4256,
   7905
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 1.7 m away at +55 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019460",
  "step": 4324,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4313,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019460",
  "step": 4499,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4313,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019460",
  "step": 4624,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4313,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019460",
  "step": 4886,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4313,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019460",
  "step": 5098,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4313,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019460",
  "step": 5672,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4313,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.19 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019460",
  "step": 6224,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4313,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.20 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019460",
  "step": 6347,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4313,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.22 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019460",
  "step": 6935,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4313,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.18 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019460",
  "step": 7586,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4313,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.26 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019460",
  "step": 7866,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4313,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.31 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019460",
  "step": 8106,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4313,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.34 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019460",
  "step": 8319,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4313,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.24 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019460",
  "step": 8509,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4313,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.18 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019460",
  "step": 8944,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4313,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.20 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019460",
  "step": 9241,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4313,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.19 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019460",
  "step": 9743,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4313,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.20 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019480",
  "step": 3148,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3088,
   6685
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 3.0 m away at +179 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019480",
  "step": 3297,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3088,
   6685
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 3.0 m away at +179 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019480",
  "step": 3472,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3088,
   6685
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 3.0 m away at +146 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019480",
  "step": 3598,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3088,
   6685
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 3.0 m away at +106 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019480",
  "step": 4247,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3088,
   6685
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 3.1 m away at +106 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019480",
  "step": 4821,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3088,
   6685
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.7 m away at +125 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019480",
  "step": 4941,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3088,
   6685
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.5 m away at +124 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019480",
  "step": 5061,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3088,
   6685
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.5 m away at +121 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019480",
  "step": 5181,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3088,
   6685
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.5 m away at +118 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019480",
  "step": 5308,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3088,
   6685
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.5 m away at +103 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00019500",
  "step": 226,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   226,
   1704
  ],
  "reason": "Nothing held; the ashcan is 0.80 m away on the robot's left (+13 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00019500",
  "step": 346,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   226,
   1704
  ],
  "reason": "Nothing held; the ashcan is 0.59 m away on the robot's left (+13 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00019500",
  "step": 997,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   226,
   1704
  ],
  "reason": "Nothing held; the ashcan is 0.50 m away on the robot's left (+17 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019500",
  "step": 4580,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1678,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019500",
  "step": 4731,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1678,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019500",
  "step": 4851,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1678,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019500",
  "step": 7739,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1678,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019500",
  "step": 7898,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1678,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019500",
  "step": 8018,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1678,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019500",
  "step": 8138,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1678,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019500",
  "step": 8258,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1678,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019500",
  "step": 8378,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1678,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019500",
  "step": 8509,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1678,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019500",
  "step": 8641,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1678,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019510",
  "step": 1053,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1839
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.6 m away at +87 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019510",
  "step": 1173,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1839
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.4 m away at +114 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019510",
  "step": 1436,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1839
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.2 m away at +137 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019510",
  "step": 1592,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1839
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.3 m away at +151 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019510",
  "step": 1989,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1815,
   6761
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019510",
  "step": 2109,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1815,
   6761
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019510",
  "step": 2344,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1815,
   6761
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019510",
  "step": 3195,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1815,
   6761
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019510",
  "step": 3315,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1815,
   6761
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019510",
  "step": 3435,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1815,
   6761
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019510",
  "step": 3555,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1815,
   6761
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019510",
  "step": 3675,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1815,
   6761
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019510",
  "step": 4363,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1815,
   6761
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019510",
  "step": 4605,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1815,
   6761
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019510",
  "step": 4756,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1815,
   6761
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019510",
  "step": 4876,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1815,
   6761
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019510",
  "step": 4996,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1815,
   6761
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019510",
  "step": 5116,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1815,
   6761
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019510",
  "step": 5236,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1815,
   6761
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019520",
  "step": 3838,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3778,
   4841
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 2.7 m away at +168 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019520",
  "step": 3958,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3778,
   4841
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 2.7 m away at +168 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019520",
  "step": 4971,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   4841,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 2.7 m away at +168 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019540",
  "step": 3061,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3001,
   4120
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 0.8 m away at +120 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019540",
  "step": 3309,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3001,
   4120
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.9 m away at +122 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019550",
  "step": 60,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   601
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.9 m away at +109 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019550",
  "step": 180,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   601
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.9 m away at +82 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019550",
  "step": 300,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   601
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.8 m away at +87 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019550",
  "step": 432,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   601
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 1.9 m away at +89 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019550",
  "step": 751,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019550",
  "step": 871,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 1.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019550",
  "step": 991,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019550",
  "step": 1111,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019550",
  "step": 1231,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019550",
  "step": 1351,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019550",
  "step": 2410,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019550",
  "step": 2564,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019550",
  "step": 2684,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019550",
  "step": 2804,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019550",
  "step": 3552,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019550",
  "step": 3778,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019550",
  "step": 3898,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019550",
  "step": 4018,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019550",
  "step": 4138,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   577,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019560",
  "step": 6090,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6015,
   6900
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.0 m away at +98 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019560",
  "step": 6210,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6015,
   6900
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.0 m away at +97 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019560",
  "step": 6460,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6015,
   6900
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 1.4 m away at +104 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019560",
  "step": 7030,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   6900,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 1.1 m away at +117 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019560",
  "step": 3382,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3382,
   6015
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019560",
  "step": 3502,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3382,
   6015
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.22 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019560",
  "step": 3674,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3382,
   6015
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019560",
  "step": 3944,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3382,
   6015
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019560",
  "step": 4924,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3382,
   6015
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019560",
  "step": 5265,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3382,
   6015
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019560",
  "step": 5500,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3382,
   6015
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.07 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019570",
  "step": 3649,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3589,
   7212
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 1.7 m away at +59 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019570",
  "step": 3769,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3589,
   7212
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 1.7 m away at +59 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019570",
  "step": 3949,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3589,
   7212
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.6 m away at +59 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019570",
  "step": 4069,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3589,
   7212
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.8 m away at +58 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019570",
  "step": 4257,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3589,
   7212
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.1 m away at -50 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019570",
  "step": 4377,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3589,
   7212
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.5 m away at -122 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019570",
  "step": 4510,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3589,
   7212
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 2.6 m away at -110 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019570",
  "step": 5298,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3589,
   7212
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.5 m away at +51 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019570",
  "step": 5418,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3589,
   7212
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.5 m away at +86 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019570",
  "step": 5538,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3589,
   7212
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.6 m away at +76 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019590",
  "step": 2314,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5679
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at +167 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019590",
  "step": 4018,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5679
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.8 m away at +153 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019590",
  "step": 4138,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5679
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 6.2 m away at +103 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019590",
  "step": 4258,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5679
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 6.5 m away at +73 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019590",
  "step": 4628,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5679
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 6.4 m away at +62 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019590",
  "step": 4774,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5679
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 6.3 m away at +49 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019590",
  "step": 5044,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5679
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 6.2 m away at +77 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019590",
  "step": 5179,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5679
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 6.2 m away at +79 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019590",
  "step": 5299,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5679
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 6.2 m away at +79 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019590",
  "step": 5427,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   5679
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 6.1 m away at +79 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019590",
  "step": 5829,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5655,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019590",
  "step": 5949,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5655,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019590",
  "step": 6069,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5655,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019590",
  "step": 6189,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5655,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 5.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019590",
  "step": 6309,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5655,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 5.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019590",
  "step": 6429,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5655,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 5.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019590",
  "step": 6549,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5655,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 5.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019590",
  "step": 6669,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5655,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 5.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019590",
  "step": 6789,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5655,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 5.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019590",
  "step": 6909,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5655,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019590",
  "step": 7029,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5655,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019590",
  "step": 7149,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   5655,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019600",
  "step": 3905,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   3760,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 0.8 m away at +3 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019600",
  "step": 5146,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   3760,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 0.7 m away at +17 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019600",
  "step": 5783,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   3760,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 0.9 m away at +45 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019610",
  "step": 3741,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3741,
   4547
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019610",
  "step": 3861,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3741,
   4547
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.17 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019610",
  "step": 4070,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3741,
   4547
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.03 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019610",
  "step": 4174,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3741,
   4547
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019610",
  "step": 7796,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7790,
   8452
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.18 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019610",
  "step": 7875,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7790,
   8452
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.17 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019610",
  "step": 8057,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7790,
   8452
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.25 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019610",
  "step": 8241,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7790,
   8452
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.23 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019610",
  "step": 8419,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7790,
   8452
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_113 lies on its side 0.30 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019610",
  "step": 7796,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7790,
   8447
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.18 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019610",
  "step": 7875,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7790,
   8447
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019610",
  "step": 8057,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7790,
   8447
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.13 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019610",
  "step": 8241,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7790,
   8447
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019610",
  "step": 8419,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7790,
   8447
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.19 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019620",
  "step": 1174,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2136
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.7 m away at +148 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019620",
  "step": 1340,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2136
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 5.8 m away at +121 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019620",
  "step": 1460,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2136
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 6.1 m away at +124 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019620",
  "step": 1580,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2136
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 6.2 m away at +91 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019620",
  "step": 1714,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2136
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 6.2 m away at +91 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019620",
  "step": 1894,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2136
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 6.2 m away at +91 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019620",
  "step": 2286,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2112,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019620",
  "step": 2406,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2112,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019620",
  "step": 2553,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2112,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019620",
  "step": 2679,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2112,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019620",
  "step": 2838,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2112,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019620",
  "step": 3748,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2112,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019620",
  "step": 3921,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2112,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019620",
  "step": 4041,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2112,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019620",
  "step": 4161,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2112,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019620",
  "step": 4281,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2112,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019620",
  "step": 4423,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2112,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019620",
  "step": 4859,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2112,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019620",
  "step": 4979,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2112,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019620",
  "step": 6586,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2112,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019620",
  "step": 6706,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2112,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 6.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019630",
  "step": 6301,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   1918,
   8808
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 3.3 m away at +51 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019630",
  "step": 6444,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   1918,
   8808
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 3.7 m away at +51 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019630",
  "step": 6996,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   1918,
   8808
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 3.4 m away at +51 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019630",
  "step": 8938,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   8808,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 3.2 m away at -8 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019640",
  "step": 1153,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4272
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +100 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019640",
  "step": 1273,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4272
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +99 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019640",
  "step": 1393,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4272
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +124 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019640",
  "step": 1513,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4272
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +87 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019640",
  "step": 1652,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4272
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +95 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019640",
  "step": 4422,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4246,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019640",
  "step": 4542,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4246,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019640",
  "step": 4662,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4246,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019640",
  "step": 4782,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4246,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019640",
  "step": 4902,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4246,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019640",
  "step": 5022,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4246,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019640",
  "step": 5142,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4246,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019640",
  "step": 5262,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4246,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019640",
  "step": 5437,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4246,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019650",
  "step": 86,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1272
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 1.0 m away at +159 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019650",
  "step": 206,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1272
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 1.3 m away at -171 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019650",
  "step": 326,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1272
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 1.3 m away at -178 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019650",
  "step": 619,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1272
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 1.5 m away at -178 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019650",
  "step": 1422,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1248,
   10321
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019650",
  "step": 1542,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1248,
   10321
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019650",
  "step": 1662,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1248,
   10321
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019650",
  "step": 1911,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1248,
   10321
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019650",
  "step": 2031,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1248,
   10321
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019650",
  "step": 2151,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1248,
   10321
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 1.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019650",
  "step": 2271,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1248,
   10321
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 2.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019650",
  "step": 2449,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1248,
   10321
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 2.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019650",
  "step": 2569,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1248,
   10321
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 2.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019650",
  "step": 2689,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1248,
   10321
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 2.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019650",
  "step": 2809,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1248,
   10321
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 2.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019650",
  "step": 3104,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1248,
   10321
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 2.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019660",
  "step": 6109,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   6036,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 3.5 m away at +97 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019660",
  "step": 6229,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   6036,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 3.5 m away at +97 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019660",
  "step": 6359,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   6036,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 3.5 m away at +97 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019660",
  "step": 7520,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   6036,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 3.5 m away at +97 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019660",
  "step": 4771,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4771,
   6036
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019660",
  "step": 4891,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4771,
   6036
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.27 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019660",
  "step": 5017,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4771,
   6036
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.19 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019660",
  "step": 5156,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4771,
   6036
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.18 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019660",
  "step": 5306,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4771,
   6036
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.12 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019660",
  "step": 5784,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4771,
   6036
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019670",
  "step": 1113,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1919
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +150 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019670",
  "step": 1233,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1919
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.7 m away at -179 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019670",
  "step": 1353,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1919
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.9 m away at -172 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019670",
  "step": 1554,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1919
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.9 m away at -173 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019670",
  "step": 2069,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1895,
   9221
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019670",
  "step": 2189,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1895,
   9221
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019670",
  "step": 2309,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1895,
   9221
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019670",
  "step": 2429,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1895,
   9221
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019670",
  "step": 4991,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1895,
   9221
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019670",
  "step": 5195,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1895,
   9221
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019670",
  "step": 5315,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1895,
   9221
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019670",
  "step": 5449,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1895,
   9221
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019700",
  "step": 3583,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   3453,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 0.6 m away at +127 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019710",
  "step": 1937,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2499
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 2.5 m away at +158 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019710",
  "step": 2066,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2499
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at -162 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019710",
  "step": 2186,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2499
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at -151 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019710",
  "step": 2306,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2499
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at -152 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019710",
  "step": 2426,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2499
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at -152 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019710",
  "step": 2649,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2475,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019710",
  "step": 2769,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2475,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019710",
  "step": 2889,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2475,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019710",
  "step": 3009,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2475,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00019720",
  "step": 283,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   283,
   1496
  ],
  "reason": "Nothing held; the ashcan is 0.80 m away on the robot's left (+32 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00019720",
  "step": 403,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   283,
   1496
  ],
  "reason": "Nothing held; the ashcan is 0.63 m away on the robot's left (+30 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00019720",
  "step": 523,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   283,
   1496
  ],
  "reason": "Nothing held; the ashcan is 0.63 m away on the robot's left (+30 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019720",
  "step": 1646,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1454,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019720",
  "step": 1766,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1454,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019720",
  "step": 1886,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1454,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019720",
  "step": 2006,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1454,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019720",
  "step": 2402,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1454,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019720",
  "step": 3001,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1454,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019720",
  "step": 3442,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1454,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019720",
  "step": 3697,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1454,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019720",
  "step": 3817,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1454,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019720",
  "step": 4014,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1454,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019720",
  "step": 4134,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1454,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019720",
  "step": 4254,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1454,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019720",
  "step": 4894,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1454,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019720",
  "step": 5093,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1454,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00019720",
  "step": 5233,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1454,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019740",
  "step": 5970,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5970,
   6376
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019740",
  "step": 6090,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5970,
   6376
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019740",
  "step": 6150,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5970,
   6376
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.13 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019740",
  "step": 6285,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5970,
   6376
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.27 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019740",
  "step": 3479,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3419,
   4360
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019740",
  "step": 3599,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3419,
   4360
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019740",
  "step": 3775,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3419,
   4360
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019740",
  "step": 4490,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4360,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 1.0 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019740",
  "step": 4610,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4360,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.8 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019740",
  "step": 5094,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4360,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019740",
  "step": 5214,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4360,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019740",
  "step": 5803,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4360,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019740",
  "step": 6441,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4360,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019740",
  "step": 6688,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4360,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.8 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019740",
  "step": 6808,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4360,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.8 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019740",
  "step": 6928,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4360,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.8 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019740",
  "step": 7048,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4360,
   10536
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.8 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019760",
  "step": 7761,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7681,
   8051
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019760",
  "step": 7881,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7681,
   8051
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019760",
  "step": 8181,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8051,
   10050
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019760",
  "step": 8313,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8051,
   10050
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019770",
  "step": 4377,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4317,
   5220
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 3.7 m away at -143 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019770",
  "step": 4497,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4317,
   5220
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 3.6 m away at -142 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019770",
  "step": 4825,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4317,
   5220
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 3.6 m away at -142 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019770",
  "step": 5350,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   5220,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 3.6 m away at -142 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019780",
  "step": 3768,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3473,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 3.2 m away at +180 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019780",
  "step": 3933,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3473,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 3.2 m away at +180 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019790",
  "step": 2485,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2420,
   3520
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019790",
  "step": 2605,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2420,
   3520
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019790",
  "step": 2725,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2420,
   3520
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019790",
  "step": 3650,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3520,
   4314
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019800",
  "step": 402,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1000
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at +67 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019800",
  "step": 522,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1000
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at +94 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019800",
  "step": 783,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1000
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at +94 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019800",
  "step": 940,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1000
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.0 m away at +95 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019800",
  "step": 1150,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   976,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019800",
  "step": 1270,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   976,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019800",
  "step": 1390,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   976,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019800",
  "step": 1510,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   976,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019800",
  "step": 1630,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   976,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019800",
  "step": 7812,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   976,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019800",
  "step": 7932,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   976,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019800",
  "step": 8121,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   976,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019800",
  "step": 8241,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   976,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019800",
  "step": 8946,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   976,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019820",
  "step": 3544,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 0.2 m away at -143 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019820",
  "step": 3759,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   10536
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 0.2 m away at -143 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019830",
  "step": 647,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4922
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +125 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019830",
  "step": 767,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4922
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +117 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019830",
  "step": 2675,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4922
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +156 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019830",
  "step": 2795,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4922
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at -149 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019830",
  "step": 3894,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4922
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +179 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019830",
  "step": 4348,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4922
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +101 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019830",
  "step": 4468,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4922
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +107 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019830",
  "step": 4613,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4922
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +107 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019830",
  "step": 4761,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   4922
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +107 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019830",
  "step": 5072,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4898,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019830",
  "step": 5192,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4898,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019830",
  "step": 5312,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4898,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019830",
  "step": 5432,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4898,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019830",
  "step": 5552,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4898,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 2.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019830",
  "step": 5672,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4898,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.3 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019830",
  "step": 5792,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4898,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019830",
  "step": 5912,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4898,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019830",
  "step": 6032,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4898,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019830",
  "step": 8740,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4898,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019830",
  "step": 8860,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4898,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019830",
  "step": 8980,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4898,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019830",
  "step": 9141,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4898,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019830",
  "step": 9512,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4898,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019830",
  "step": 9711,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   4898,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019840",
  "step": 2956,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2896,
   3241
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 0.9 m away at +116 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019840",
  "step": 3371,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   3241,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 0.9 m away at +117 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019850",
  "step": 4036,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3953,
   4694
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 2.9 m away at +125 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019850",
  "step": 4156,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3953,
   4694
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 2.9 m away at +125 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019850",
  "step": 4276,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3953,
   4694
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 2.9 m away at +125 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019850",
  "step": 4824,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   4694,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 2.9 m away at +125 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019870",
  "step": 6010,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   6010,
   6873
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019870",
  "step": 6173,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   6010,
   6873
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.17 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019870",
  "step": 6629,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   6010,
   6873
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019870",
  "step": 9362,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   9362,
   9700
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019870",
  "step": 9482,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   9362,
   9700
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019870",
  "step": 9670,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   9362,
   9700
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.02 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 1242,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   1182,
   1540
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 1362,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   1182,
   1540
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 1482,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   1182,
   1540
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019870",
  "step": 1670,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   1540,
   2196
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 2256,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2196,
   5720
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 2376,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2196,
   5720
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 2496,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2196,
   5720
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 2616,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2196,
   5720
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 2736,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2196,
   5720
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 2856,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2196,
   5720
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 3020,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2196,
   5720
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 3266,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2196,
   5720
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 3386,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2196,
   5720
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 3506,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2196,
   5720
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019870",
  "step": 5850,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5720,
   6873
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019870",
  "step": 6007,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5720,
   6873
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 6933,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   6873,
   7068
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019870",
  "step": 7199,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7068,
   7656
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 7716,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7656,
   8880
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 7836,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7656,
   8880
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 7956,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7656,
   8880
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 8247,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7656,
   8880
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 8367,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7656,
   8880
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019870",
  "step": 8487,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7656,
   8880
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019870",
  "step": 9010,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8880,
   9700
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019870",
  "step": 9130,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8880,
   9700
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019870",
  "step": 9250,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   8880,
   9700
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019890",
  "step": 5326,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5326,
   5791
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019890",
  "step": 5446,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5326,
   5791
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.16 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00019890",
  "step": 5582,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5326,
   5791
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00019890",
  "step": 5686,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5326,
   5791
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019890",
  "step": 4558,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4354,
   5186
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019890",
  "step": 4678,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4354,
   5186
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019890",
  "step": 4822,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4354,
   5186
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00019890",
  "step": 4942,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4354,
   5186
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00019890",
  "step": 5316,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5186,
   5791
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019900",
  "step": 3097,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3037,
   4461
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 3.3 m away at +172 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019900",
  "step": 3310,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3037,
   4461
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.9 m away at -177 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019900",
  "step": 3430,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3037,
   4461
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.9 m away at -114 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019900",
  "step": 3617,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3037,
   4461
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.9 m away at -113 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019900",
  "step": 3912,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3037,
   4461
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 3.0 m away at -116 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019900",
  "step": 4591,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   4461,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 3.0 m away at -119 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019920",
  "step": 3019,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2959,
   3296
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 1.1 m away at -173 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019920",
  "step": 3426,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   3296,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 1.1 m away at -173 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019940",
  "step": 886,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2120
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at +75 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019940",
  "step": 1520,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2120
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +155 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019940",
  "step": 1640,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2120
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at +170 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019940",
  "step": 1760,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2120
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +164 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019940",
  "step": 1880,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2120
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +175 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00019940",
  "step": 2005,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   2120
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +175 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019940",
  "step": 2270,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2096,
   5342
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019940",
  "step": 2390,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2096,
   5342
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019940",
  "step": 2539,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2096,
   5342
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019940",
  "step": 2659,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2096,
   5342
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019940",
  "step": 2779,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2096,
   5342
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019940",
  "step": 2933,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2096,
   5342
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019940",
  "step": 3099,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2096,
   5342
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019940",
  "step": 3253,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2096,
   5342
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019940",
  "step": 3373,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2096,
   5342
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019940",
  "step": 3493,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2096,
   5342
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019940",
  "step": 3613,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2096,
   5342
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019940",
  "step": 3733,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2096,
   5342
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019940",
  "step": 3853,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2096,
   5342
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019940",
  "step": 3973,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2096,
   5342
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00019940",
  "step": 4093,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2096,
   5342
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019990",
  "step": 3259,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3199,
   5561
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 2.4 m away at +143 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00019990",
  "step": 4051,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3199,
   5561
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 2.3 m away at +142 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00019990",
  "step": 5691,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   5561,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.1 m away at +129 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015010",
  "step": 5909,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5849,
   6061
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015010",
  "step": 6029,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5849,
   6061
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015060",
  "step": 9284,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   9253,
   10143
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.23 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015060",
  "step": 9475,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   9253,
   10143
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.03 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015060",
  "step": 9595,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   9253,
   10143
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.18 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015060",
  "step": 9715,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   9253,
   10143
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015060",
  "step": 10042,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   9253,
   10143
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.12 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015060",
  "step": 3741,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3718,
   7690
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015060",
  "step": 3861,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3718,
   7690
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015060",
  "step": 4027,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3718,
   7690
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015060",
  "step": 4106,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3718,
   7690
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.17 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015060",
  "step": 4813,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3718,
   7690
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015060",
  "step": 5319,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3718,
   7690
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.23 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015060",
  "step": 5654,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3718,
   7690
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.18 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015060",
  "step": 5944,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3718,
   7690
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.13 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015060",
  "step": 6072,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3718,
   7690
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.17 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015060",
  "step": 6192,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3718,
   7690
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015060",
  "step": 6312,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3718,
   7690
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015060",
  "step": 6642,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3718,
   7690
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.07 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015060",
  "step": 7029,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3718,
   7690
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015060",
  "step": 7149,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3718,
   7690
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015100",
  "step": 4150,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   4020,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 3.1 m away at +39 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015260",
  "step": 2699,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2624,
   4866
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.9 m away at +154 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015260",
  "step": 2819,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2624,
   4866
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 2.9 m away at +154 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015260",
  "step": 3860,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2624,
   4866
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.7 m away at +138 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015260",
  "step": 3980,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2624,
   4866
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.7 m away at +138 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015260",
  "step": 4100,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2624,
   4866
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 2.7 m away at +114 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015260",
  "step": 4996,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   4866,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 2.7 m away at +114 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015280",
  "step": 5197,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5130,
   6758
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015280",
  "step": 5317,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5130,
   6758
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015280",
  "step": 5437,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5130,
   6758
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015280",
  "step": 5596,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5130,
   6758
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015280",
  "step": 5821,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5130,
   6758
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015280",
  "step": 6582,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   5130,
   6758
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015280",
  "step": 6889,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   6758,
   7434
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.5 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015280",
  "step": 7494,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7434,
   8144
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015280",
  "step": 7614,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7434,
   8144
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015280",
  "step": 7800,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7434,
   8144
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00015280",
  "step": 7966,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   7434,
   8144
  ],
  "reason": "The left hand holds can_of_soda_113 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015280",
  "step": 8283,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   8144,
   9776
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.9 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015280",
  "step": 8403,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   8144,
   9776
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00015280",
  "step": 8523,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   8144,
   9776
  ],
  "reason": "can_of_soda_113 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00015320",
  "step": 475,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   475,
   964
  ],
  "reason": "Nothing held; the ashcan is 0.51 m away on the robot's left (+10 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00015320",
  "step": 595,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   475,
   964
  ],
  "reason": "Nothing held; the ashcan is 0.50 m away on the robot's left (+28 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00015320",
  "step": 715,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   475,
   964
  ],
  "reason": "Nothing held; the ashcan is 0.50 m away on the robot's left (+28 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00015320",
  "step": 835,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   475,
   964
  ],
  "reason": "Nothing held; the ashcan is 0.50 m away on the robot's left (+27 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015320",
  "step": 1114,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   937,
   3680
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015320",
  "step": 1234,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   937,
   3680
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015320",
  "step": 1354,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   937,
   3680
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015320",
  "step": 1967,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   937,
   3680
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015320",
  "step": 2087,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   937,
   3680
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015320",
  "step": 2207,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   937,
   3680
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015320",
  "step": 2395,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   937,
   3680
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015320",
  "step": 2515,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   937,
   3680
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015320",
  "step": 2635,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   937,
   3680
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015320",
  "step": 2769,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   937,
   3680
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015320",
  "step": 2889,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   937,
   3680
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015320",
  "step": 3009,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   937,
   3680
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015320",
  "step": 3129,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   937,
   3680
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015320",
  "step": 3249,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   937,
   3680
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00015320",
  "step": 3369,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   937,
   3680
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015440",
  "step": 2730,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2718,
   3378
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.17 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015440",
  "step": 2850,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2718,
   3378
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015440",
  "step": 3062,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2718,
   3378
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015440",
  "step": 3142,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2718,
   3378
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.04 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015470",
  "step": 2719,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2719,
   5973
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015470",
  "step": 2870,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2719,
   5973
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.29 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015470",
  "step": 2990,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2719,
   5973
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.33 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015470",
  "step": 3159,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2719,
   5973
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015470",
  "step": 3744,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2719,
   5973
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015470",
  "step": 3865,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2719,
   5973
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.26 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015470",
  "step": 4009,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2719,
   5973
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.22 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015470",
  "step": 4129,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2719,
   5973
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015470",
  "step": 4444,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2719,
   5973
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.10 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015470",
  "step": 4725,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2719,
   5973
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015470",
  "step": 4947,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2719,
   5973
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015470",
  "step": 5069,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2719,
   5973
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.08 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015470",
  "step": 5196,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2719,
   5973
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.12 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015470",
  "step": 5428,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2719,
   5973
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015470",
  "step": 5584,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2719,
   5973
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.12 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015470",
  "step": 5704,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2719,
   5973
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.23 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015470",
  "step": 5882,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2719,
   5973
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_113 lies on its side 0.32 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015530",
  "step": 7378,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7367,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015530",
  "step": 7476,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7367,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015530",
  "step": 9224,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7367,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015530",
  "step": 10064,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   7367,
   10536
  ],
  "reason": "The right hand carries the ashcan (2 cans in); can_of_soda_114 lies on its side 0.15 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015550",
  "step": 3159,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3099,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 2.1 m away at +111 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015550",
  "step": 3375,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3099,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 1.9 m away at +90 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015550",
  "step": 3495,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3099,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 2.1 m away at +117 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015550",
  "step": 3615,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3099,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 1.8 m away at +104 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015550",
  "step": 3735,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3099,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 1.3 m away at +80 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015550",
  "step": 3855,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3099,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 1.5 m away at +61 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015550",
  "step": 5596,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3099,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 1.8 m away at +133 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015550",
  "step": 5716,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3099,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 1.7 m away at +126 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015590",
  "step": 6649,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5843,
   7245
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 1.4 m away at +118 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015590",
  "step": 7378,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   7245,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 1.3 m away at +108 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015610",
  "step": 3583,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   3453,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 3.3 m away at -150 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00015610",
  "step": 1492,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   1474,
   2437
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.13 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00015610",
  "step": 1944,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   1474,
   2437
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_114 lies on its side 0.07 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015730",
  "step": 3279,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3219,
   3709
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 0.9 m away at -57 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00015730",
  "step": 3839,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   3709,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 0.9 m away at -57 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015880",
  "step": 447,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1242
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 3.1 m away at +148 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015880",
  "step": 567,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1242
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +152 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00015880",
  "step": 757,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1242
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.6 m away at +141 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015880",
  "step": 1392,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1218,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015880",
  "step": 1512,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1218,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015880",
  "step": 1632,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1218,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015880",
  "step": 1752,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1218,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00015880",
  "step": 2123,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1218,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00015920",
  "step": 2640,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2580,
   3077
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 2.1 m away at +159 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016130",
  "step": 4830,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   4700,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 2.8 m away at +124 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016200",
  "step": 3305,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3245,
   5821
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 1.9 m away at +90 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016200",
  "step": 3609,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3245,
   5821
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.6 m away at +71 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016200",
  "step": 3729,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3245,
   5821
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.5 m away at +74 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016200",
  "step": 3849,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3245,
   5821
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.2 m away at +87 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016200",
  "step": 5151,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3245,
   5821
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_115 lies 1.1 m away at +96 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016200",
  "step": 2192,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2180,
   3245
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.13 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016200",
  "step": 2404,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2180,
   3245
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.13 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016200",
  "step": 2571,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2180,
   3245
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.14 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016200",
  "step": 2766,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2180,
   3245
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.07 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016200",
  "step": 2979,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2180,
   3245
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016300",
  "step": 4816,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4756,
   5333
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 1.7 m away at +80 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016300",
  "step": 5463,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   5333,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 1.8 m away at +72 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00016300",
  "step": 3190,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3155,
   3839
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00016300",
  "step": 3484,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3155,
   3839
  ],
  "reason": "The right hand carries the ashcan (0 cans in); can_of_soda_115 lies on its side 0.11 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016330",
  "step": 2930,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2870,
   3351
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 2.8 m away at +177 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016330",
  "step": 3481,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   3351,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.7 m away at +178 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00016440",
  "step": 645,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   645,
   2251
  ],
  "reason": "Nothing held; the ashcan is 0.55 m away on the robot's left (+3 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00016440",
  "step": 2025,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   645,
   2251
  ],
  "reason": "Nothing held; the ashcan is 0.50 m away on the robot's front (-8 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016440",
  "step": 2401,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2155,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016580",
  "step": 3072,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3012,
   4547
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016580",
  "step": 3192,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3012,
   4547
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016580",
  "step": 3312,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3012,
   4547
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00016580",
  "step": 3563,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   3012,
   4547
  ],
  "reason": "The left hand holds can_of_soda_115 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016580",
  "step": 4677,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4547,
   5732
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.3 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00016580",
  "step": 5338,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4547,
   5732
  ],
  "reason": "can_of_soda_115 missed the ashcan and lies on the floor 0.4 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00016840",
  "step": 524,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   524,
   805
  ],
  "reason": "Nothing held; the ashcan is 0.80 m away on the robot's left (+18 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00016840",
  "step": 644,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   524,
   805
  ],
  "reason": "Nothing held; the ashcan is 0.78 m away on the robot's left (+19 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016840",
  "step": 955,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   778,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016840",
  "step": 1075,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   778,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016840",
  "step": 1195,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   778,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016840",
  "step": 1315,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   778,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016840",
  "step": 1435,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   778,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016840",
  "step": 1555,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   778,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016840",
  "step": 1675,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   778,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00016880",
  "step": 1970,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   1910,
   2400
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 1.3 m away at -176 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00016880",
  "step": 2530,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   2400,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 1.3 m away at -176 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016970",
  "step": 198,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   962
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at +163 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016970",
  "step": 318,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   962
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.8 m away at -134 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016970",
  "step": 438,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   962
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.8 m away at -140 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016970",
  "step": 558,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   962
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.9 m away at -117 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00016970",
  "step": 678,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   962
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 4.0 m away at -118 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016970",
  "step": 1112,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   938,
   3943
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016970",
  "step": 1232,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   938,
   3943
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016970",
  "step": 1352,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   938,
   3943
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016970",
  "step": 1472,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   938,
   3943
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016970",
  "step": 1592,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   938,
   3943
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.2 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016970",
  "step": 1712,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   938,
   3943
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 4.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016970",
  "step": 1832,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   938,
   3943
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016970",
  "step": 1957,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   938,
   3943
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00016970",
  "step": 2077,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   938,
   3943
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 5.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00016990",
  "step": 205,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   205,
   864
  ],
  "reason": "Nothing held; the ashcan is 0.80 m away on the robot's left (+17 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00016990",
  "step": 357,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   205,
   864
  ],
  "reason": "Nothing held; the ashcan is 0.69 m away on the robot's left (+18 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00016990",
  "step": 704,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   205,
   864
  ],
  "reason": "Nothing held; the ashcan is 0.50 m away on the robot's left (+17 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016990",
  "step": 1014,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   838,
   1440
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00016990",
  "step": 1570,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1441,
   2251
  ],
  "reason": "Nothing held; the ashcan is 0.48 m away on the robot's left (+16 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00016990",
  "step": 2401,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2224,
   3259
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00017060",
  "step": 8641,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   8625,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.16 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017060",
  "step": 9048,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   8625,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.06 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00017060",
  "step": 9257,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   8625,
   10536
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_115 lies on its side 0.05 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017090",
  "step": 4441,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   4381,
   5132
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 1.7 m away at +88 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017090",
  "step": 5262,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   5132,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 1.8 m away at +57 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017110",
  "step": 5311,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2610,
   6741
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 0.4 m away at +74 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017110",
  "step": 5751,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2610,
   6741
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 0.4 m away at +78 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017110",
  "step": 5871,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2610,
   6741
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 0.4 m away at +78 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017110",
  "step": 6077,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   2610,
   6741
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 0.4 m away at +78 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017110",
  "step": 6871,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   6741,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 0.4 m away at +76 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017480",
  "step": 5766,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   5623,
   6158
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 1.9 m away at +145 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017480",
  "step": 6451,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   6158,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 1.9 m away at +147 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017720",
  "step": 2908,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   2823,
   3269
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 2.4 m away at -147 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017810",
  "step": 913,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1955
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.9 m away at +84 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017810",
  "step": 1033,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1955
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.8 m away at +64 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017810",
  "step": 1207,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1955
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at +98 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017810",
  "step": 1379,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1955
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.6 m away at +139 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017810",
  "step": 1499,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1955
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.3 m away at +122 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017810",
  "step": 1644,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1955
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.3 m away at +122 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00017810",
  "step": 1848,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1955
  ],
  "reason": "Nothing held; can_of_soda_115 lies within 1 m ahead and the ashcan trash_can_116 is 2.4 m away at +118 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017810",
  "step": 2105,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1931,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 3.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017810",
  "step": 2225,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1931,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.1 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017810",
  "step": 2345,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1931,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00017810",
  "step": 2465,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1931,
   10476
  ],
  "reason": "The policy holds can_of_soda_115 and has no ashcan; the ashcan is 4.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017870",
  "step": 3861,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3801,
   4666
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 1.0 m away at +66 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017870",
  "step": 3981,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3801,
   4666
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 1.0 m away at +66 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017870",
  "step": 4148,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3801,
   4666
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 1.0 m away at +66 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017870",
  "step": 4268,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3801,
   4666
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.9 m away at +71 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00017870",
  "step": 4388,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3801,
   4666
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.6 m away at +88 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00017870",
  "step": 4796,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   4666,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 0.6 m away at +87 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018000",
  "step": 3456,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3396,
   5370
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_113 lies 1.8 m away at +166 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018000",
  "step": 3712,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3396,
   5370
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 1.8 m away at +166 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018000",
  "step": 4210,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3396,
   5370
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 1.7 m away at -172 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018000",
  "step": 4623,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3396,
   5370
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 1.7 m away at -166 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018000",
  "step": 4966,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   3396,
   5370
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 1.6 m away at -179 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018000",
  "step": 5500,
  "object": "can_of_soda_113",
  "arm": "either",
  "span": [
   5370,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_113 lies on the floor 1.7 m away at -157 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018030",
  "step": 60,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   543
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at -117 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018030",
  "step": 180,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   543
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.4 m away at -136 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018030",
  "step": 300,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   543
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at -133 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018030",
  "step": 420,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   543
  ],
  "reason": "Nothing held; can_of_soda_113 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at -133 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018030",
  "step": 693,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   519,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.5 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018030",
  "step": 813,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   519,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018030",
  "step": 933,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   519,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 2.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018030",
  "step": 1053,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   519,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.4 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018030",
  "step": 1173,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   519,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018030",
  "step": 1293,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   519,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018030",
  "step": 1451,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   519,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018030",
  "step": 1571,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   519,
   10476
  ],
  "reason": "The policy holds can_of_soda_113 and has no ashcan; the ashcan is 3.6 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018040",
  "step": 282,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1853
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.5 m away at -145 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018040",
  "step": 402,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1853
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.8 m away at -146 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018040",
  "step": 550,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1853
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 3.9 m away at -147 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "prevention",
  "episode": "00018040",
  "step": 718,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   0,
   1853
  ],
  "reason": "Nothing held; can_of_soda_114 lies within 1 m ahead and the ashcan trash_can_116 is 4.0 m away at -147 deg; grasp the ashcan with the right hand first."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018040",
  "step": 2003,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1830,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018040",
  "step": 2300,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1830,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018040",
  "step": 2876,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1830,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018040",
  "step": 2996,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1830,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018040",
  "step": 3116,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1830,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018040",
  "step": 3236,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1830,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018040",
  "step": 3356,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1830,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018040",
  "step": 3476,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1830,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018040",
  "step": 3596,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1830,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018040",
  "step": 3716,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1830,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018040",
  "step": 3868,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1830,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018040",
  "step": 3988,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1830,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.7 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018040",
  "step": 4108,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1830,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.8 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018040",
  "step": 4228,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1830,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 4.0 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "can_grasped_before_ashcan",
  "kind": "correction",
  "episode": "00018040",
  "step": 4348,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   1830,
   10476
  ],
  "reason": "The policy holds can_of_soda_114 and has no ashcan; the ashcan is 3.9 m away on the floor; get that can into the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018270",
  "step": 4857,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4256,
   6941
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_114 over it; the last can can_of_soda_115 lies 3.2 m away at +131 deg (out of view); drop can_of_soda_114 in, then find the last can and put it in too."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018270",
  "step": 5581,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5581,
   6237
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.35 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "prevention",
  "episode": "00018270",
  "step": 5701,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5581,
   6237
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.09 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "lying_can_grasp_misses",
  "kind": "correction",
  "episode": "00018270",
  "step": 5848,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5581,
   6237
  ],
  "reason": "The right hand carries the ashcan (1 cans in); can_of_soda_114 lies on its side 0.04 m from the left hand; grasp it and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00018270",
  "step": 4316,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4256,
   5167
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00018270",
  "step": 4436,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4256,
   5167
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00018270",
  "step": 4556,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4256,
   5167
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "prevention",
  "episode": "00018270",
  "step": 4943,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   4256,
   5167
  ],
  "reason": "The left hand holds can_of_soda_114 next to the carried ashcan; release it over the opening so it lands inside."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00018270",
  "step": 5297,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5167,
   6237
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.8 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00018270",
  "step": 5417,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5167,
   6237
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.7 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "can_released_outside_ashcan",
  "kind": "correction",
  "episode": "00018270",
  "step": 5537,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   5167,
   6237
  ],
  "reason": "can_of_soda_114 missed the ashcan and lies on the floor 0.6 m from the robot; pick it up and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018330",
  "step": 2630,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2456,
   10536
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 1.4 m away at +104 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018330",
  "step": 2846,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2456,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 1.3 m away at +85 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018330",
  "step": 2966,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   2456,
   10536
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 0.7 m away at +72 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018370",
  "step": 3080,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3019,
   4177
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 2.6 m away at +165 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018370",
  "step": 3200,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3019,
   4177
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_114 lies 2.6 m away at +165 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018370",
  "step": 3368,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3019,
   4177
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 2.6 m away at +165 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018370",
  "step": 3488,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3019,
   4177
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 2.5 m away at +120 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018370",
  "step": 3643,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3019,
   4177
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 2.1 m away at +98 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018370",
  "step": 4307,
  "object": "can_of_soda_114",
  "arm": "either",
  "span": [
   4177,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_114 lies on the floor 2.1 m away at +98 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018400",
  "step": 3989,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3929,
   4781
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 0.9 m away at +95 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018400",
  "step": 4109,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3929,
   4781
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_114 lies 0.9 m away at +95 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018400",
  "step": 4309,
  "object": "can_of_soda_114",
  "arm": "left",
  "span": [
   3929,
   4781
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_114 lies 0.9 m away at +75 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018450",
  "step": 1974,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   1914,
   4840
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_115 over it; the last can can_of_soda_113 lies 2.0 m away at +84 deg (out of view); drop can_of_soda_115 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018450",
  "step": 2224,
  "object": "can_of_soda_113",
  "arm": "left",
  "span": [
   1914,
   4840
  ],
  "reason": "Two cans are in the ashcan carried in the right hand; the last can can_of_soda_113 lies 1.8 m away at +70 deg (out of view); find it and put it in the ashcan."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "prevention",
  "episode": "00018570",
  "step": 7284,
  "object": "can_of_soda_115",
  "arm": "left",
  "span": [
   4447,
   7874
  ],
  "reason": "One can is in the ashcan carried in the right hand and the left hand holds can_of_soda_113 over it; the last can can_of_soda_115 lies 1.3 m away at +111 deg (out of view); drop can_of_soda_113 in, then find the last can and put it in too."
 },
 {
  "mode": "last_can_out_of_view",
  "kind": "correction",
  "episode": "00018570",
  "step": 8004,
  "object": "can_of_soda_115",
  "arm": "either",
  "span": [
   7874,
   10535
  ],
  "reason": "Two cans are in the ashcan (standing on the floor); the last can can_of_soda_115 lies on the floor 1.3 m away at +109 deg from the heading; put it in the ashcan."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00018630",
  "step": 230,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   230,
   2670
  ],
  "reason": "Nothing held; the ashcan is 0.52 m away on the robot's left (+90 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00018630",
  "step": 350,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   230,
   2670
  ],
  "reason": "Nothing held; the ashcan is 0.52 m away on the robot's left (+39 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "prevention",
  "episode": "00018630",
  "step": 724,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   230,
   2670
  ],
  "reason": "Nothing held; the ashcan is 0.52 m away on the robot's left (+38 deg); grasp it with the right hand."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018630",
  "step": 2820,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2628,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018630",
  "step": 2940,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2628,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018630",
  "step": 3060,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2628,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018630",
  "step": 3180,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2628,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018630",
  "step": 3300,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2628,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018630",
  "step": 3420,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2628,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018630",
  "step": 3806,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2628,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018630",
  "step": 3973,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2628,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018630",
  "step": 4151,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2628,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018630",
  "step": 4727,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2628,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018630",
  "step": 5861,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2628,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018630",
  "step": 7020,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2628,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 },
 {
  "mode": "ashcan_grasped_left_hand",
  "kind": "correction",
  "episode": "00018630",
  "step": 7140,
  "object": "trash_can_116",
  "arm": "right",
  "span": [
   2628,
   10476
  ],
  "reason": "The ashcan is held in the LEFT hand with no can inside; get a can into it (or re-grasp it with the right hand)."
 }
]