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translational or rotational movement. | Right hand: place: Right hand lowers the green hexagonal block down the purple peg, moving it toward the supporting white block positioned below on the same peg."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand releases the green hexagonal block placed on the peg board, opening fingers to separate from the block."}, {"label": "goal", "start_step": 461, "end_step": 635, "id": "6bd32247-01a1-40d9-ab8b-7c88de08dac1"}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downwards empty toward the green hexagonal block resting on the table in front of the peg board, without establishing contact with the target block."}, {"label": "subtasks", "start_step": 518, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making repeated slight adjustments to finger positions and wrist orientation to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table, lifts the nut upward until it is fully separated from the table surface."}, {"label": "goal", "start_step": 636, "end_step": 790, "id": "85b9219a-d27e-43fc-a1b7-7a80872e5e96"}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand holds the lifted white hexagonal nut, moves it toward the purple post on the wooden assembly base until the nut is positioned above the target post."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand holds the white hexagonal nut, slightly adjusts its position and orientation to align the nut's hole with the purple post, then fits the nut onto the top of the post."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand holds the white hexagonal nut fitted on the purple post, moves the nut downward along the post until the nut rests stably on the green block below."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place_release: Right hand sets the white hexagonal block onto the purple peg of the wooden stand and opens fingers to let go of the block."}, {"label": "goal", "start_step": 791, "end_step": 880, "id": "f9e559d8-46c0-44ca-86b3-de5afff965ce"}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact to secure the block."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the firmly grasped white hexagonal nut directly upward to raise it off the black table support surface."}, {"label": "goal", "start_step": 881, "end_step": 1140, "id": "40b33a30-9b07-4862-9c43-5787c6906b5a"}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand transports the lifted white hexagonal nut upward and forward toward the wooden peg stand, positioning the nut directly above the target purple peg."}, {"label": "subtasks", "start_step": 922, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand makes small positional and rotational adjustments to the grasped white hexagonal nut to align its central hole with the target purple peg on the wooden base, fitting the nut onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: hold: Right hand holds the fully seated white hexagonal nut on the purple peg with no visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate_release: Right hand positions the white hexagonal piece over the purple peg on the wooden board, presses it down to fit securely on the peg, and opens fingers to release the attached piece."}, {"label": "goal", "start_step": 1141, "end_step": 1220, "id": "04f6344e-e71d-46fa-a4fb-7891ed2a5e94"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal piece resting on the table surface near the front edge of the wooden peg board."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal piece on the table to establish a stable grip on the object."}, {"label": "goal", "start_step": 1221, "end_step": 1330, "id": "eed47186-84d3-432a-a19f-4e6290e7b0d4"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the rightmost purple peg and moves the block downward to fit it onto the peg, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand releases the white hexagonal hollow block placed on the purple peg of the wooden base, with fingers gradually opening to separate from the block."}, {"label": "goal", "start_step": 1331, "end_step": 1420, "id": "25d24737-5dc5-4787-901a-489186a2bb2e"}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward toward the green hexagonal hollow block resting on the black table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1431, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand adjusts finger positions around the target green hexagonal hollow block on the table, fingers closing to form a grip on the block."}, {"label": "goal", "start_step": 1421, "end_step": 1510, "id": "d70b4014-30e1-4d7f-8dd0-34a39cd6a576"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table and moves it upward to the position above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the inner hole of the green hexagonal nut with the purple rod on the rack and lowers the nut to fit onto the rod to complete assembly alignment."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand holds the green hexagonal block and lowers it onto the purple wooden peg on the assembly board until the block is supported by the peg."}, {"label": "goal", "start_step": 1511, "end_step": 1615, "id": "deacfbfa-8772-488c-b236-1e733b2dbe89"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the assembly board peg."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish a stable grip on the block."}, {"label": "goal", "start_step": 1616, "end_step": 1830, "id": "3f74a4a6-ea06-486f-a798-cb7237021e92"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the wooden peg board."}, {"label": "subtasks", "start_step": 1665, "end_step": 1777, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden board and fits the nut down onto the peg."}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: idle: Right hand remains empty near the purple rod on the wooden block tray without visible movement."}, {"label": "goal", "start_step": 1831, "end_step": 1955, "id": "d7e3f80a-6b63-43cd-9405-3cd5f25714a9"}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the black table surface to the right of the wooden block tray."}, {"label": "subtasks", "start_step": 1868, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand adjusts finger positions and contact points around the white hexagonal nut on the table to form a stable grasp, with continuous small finger movements."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: hold: Right hand holds the white hexagonal block above the dark table surface without moving."}, {"label": "goal", "start_step": 1956, "end_step": 2085, "id": "0023456d-9cec-4992-bc23-b10f3252c4c8"}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and moves horizontally toward the wooden rack, positioning the block above the purple vertical rod on the rack."}, {"label": "subtasks", "start_step": 2002, "end_step": 2069, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit over the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand lowers the white hexagonal block to rest on the wooden rack base, with the block fully supported by the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, separating the hand from the placed block."}, {"label": "goal", "start_step": 2086, "end_step": 2145, "id": "09f2418f-0b47-4f36-af12-eb6f2c987dfa"}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward and rightward from the area beside the purple post on the tray toward the white hexagonal block resting on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp on the block."}, {"label": "goal", "start_step": 2146, "end_step": 2285, "id": "4190f7cd-57a8-4f9d-bade-a5a20b462427"}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to position it above the purple post on the wooden tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post, lowering the block slightly to fit it onto the post to form an assembly relationship."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple post until the block rests stably on the post base, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens fingers to release the white bottle with purple top onto the wooden tray, separating all fingers from the bottle surface."}, {"label": "goal", "start_step": 2286, "end_step": 2360, "id": "80cf75e9-c91b-4a14-91c9-e0193d70ee3c"}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves with empty hand downward and rightward toward the green cubic block on the black table surface, fingers held in an extended position."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, adjusting finger contact points to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the green holed cube upward, fully separating it from the black table surface."}, {"label": "goal", "start_step": 2361, "end_step": 2495, "id": "b7f15414-d09e-49e9-8f2f-d3a4d9257543"}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand carries the green holed cube horizontally toward the wooden tray holding stacked white and green cylinders."}, {"label": "subtasks", "start_step": 2415, "end_step": 2504, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place_release: Right hand lowers the green holed cube to rest on top of the purple-capped cylinder and opens fingers to release grip on the cube."}, {"label": "home", "start_step": 2539, "end_step": 2570, "id": "RmkpQq9zI2BOoL_89lNhn"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: idle: Right hand remains empty at the right side of the workspace, with no obvious translational or rotational movement of the hand or wrist."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block on the table in front of the wooden peg base, with fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, adjusting finger positions and closing fingers around the block with small observable movements of the fingers and wrist to form a grip."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating it from the dark table support surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand transports the lifted green hexagonal block horizontally to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reorient: Right hand rotates the grasped green hexagonal block slightly to align its central hexagonal hole with the top of the target purple peg."}, {"label": "subtasks", "start_step": 292, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand guides the aligned green hexagonal block onto the purple peg, inserting the peg through the block's central hole to form an assembly connection."}, {"label": "subtasks", "start_step": 398, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand lowers the green hexagonal block down the purple peg, moving it toward the supporting white block positioned below on the same peg."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand releases the green hexagonal block placed on the peg board, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downwards empty toward the green hexagonal block resting on the table in front of the peg board, without establishing contact with the target block."}, {"label": "subtasks", "start_step": 518, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making repeated slight adjustments to finger positions and wrist orientation to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table, lifts the nut upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand holds the lifted white hexagonal nut, moves it toward the purple post on the wooden assembly base until the nut is positioned above the target post."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand holds the white hexagonal nut, slightly adjusts its position and orientation to align the nut's hole with the purple post, then fits the nut onto the top of the post."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand holds the white hexagonal nut fitted on the purple post, moves the nut downward along the post until the nut rests stably on the green block below."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place_release: Right hand sets the white hexagonal block onto the purple peg of the wooden stand and opens fingers to let go of the block."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact to secure the block."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the firmly grasped white hexagonal nut directly upward to raise it off the black table support surface."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand transports the lifted white hexagonal nut upward and forward toward the wooden peg stand, positioning the nut directly above the target purple peg."}, {"label": "subtasks", "start_step": 922, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand makes small positional and rotational adjustments to the grasped white hexagonal nut to align its central hole with the target purple peg on the wooden base, fitting the nut onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: hold: Right hand holds the fully seated white hexagonal nut on the purple peg with no visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate_release: Right hand positions the white hexagonal piece over the purple peg on the wooden board, presses it down to fit securely on the peg, and opens fingers to release the attached piece."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal piece resting on the table surface near the front edge of the wooden peg board."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal piece on the table to establish a stable grip on the object."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the rightmost purple peg and moves the block downward to fit it onto the peg, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand releases the white hexagonal hollow block placed on the purple peg of the wooden base, with fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward toward the green hexagonal hollow block resting on the black table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1431, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand adjusts finger positions around the target green hexagonal hollow block on the table, fingers closing to form a grip on the block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table and moves it upward to the position above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the inner hole of the green hexagonal nut with the purple rod on the rack and lowers the nut to fit onto the rod to complete assembly alignment."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand holds the green hexagonal block and lowers it onto the purple wooden peg on the assembly board until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the assembly board peg."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the wooden peg board."}, {"label": "subtasks", "start_step": 1665, "end_step": 1777, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden board and fits the nut down onto the peg."}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: idle: Right hand remains empty near the purple rod on the wooden block tray without visible movement."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the black table surface to the right of the wooden block tray."}, {"label": "subtasks", "start_step": 1868, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand adjusts finger positions and contact points around the white hexagonal nut on the table to form a stable grasp, with continuous small finger movements."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: hold: Right hand holds the white hexagonal block above the dark table surface without moving."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and moves horizontally toward the wooden rack, positioning the block above the purple vertical rod on the rack."}, {"label": "subtasks", "start_step": 2002, "end_step": 2069, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit over the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand lowers the white hexagonal block to rest on the wooden rack base, with the block fully supported by the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, separating the hand from the placed block."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward and rightward from the area beside the purple post on the tray toward the white hexagonal block resting on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to position it above the purple post on the wooden tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post, lowering the block slightly to fit it onto the post to form an assembly relationship."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple post until the block rests stably on the post base, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens fingers to release the white bottle with purple top onto the wooden tray, separating all fingers from the bottle surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves with empty hand downward and rightward toward the green cubic block on the black table surface, fingers held in an extended position."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, adjusting finger contact points to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the green holed cube upward, fully separating it from the black table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand carries the green holed cube horizontally toward the wooden tray holding stacked white and green cylinders."}, {"label": "subtasks", "start_step": 2415, "end_step": 2504, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place_release: Right hand lowers the green holed cube to rest on top of the purple-capped cylinder and opens fingers to release grip on the cube."}], "episode_index": 0}
+{"source_uid": "21657e602b60e890", "num_frames": 1981, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "bedfdcfd-585d-4a09-8b97-b3b366a417f3"}, {"label": "valid", "start_step": 0, "end_step": 1946, "id": "O_0C23Hy3gWk54AILIqw4"}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 151, "end_step": 255, "id": "091e498f-3ead-43c5-9d9f-78b8a32ff080"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the purple peg to the bottom, and releases the block with fingers opening."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the peg tower, with fingers gradually opening to separate from the block."}, {"label": "goal", "start_step": 256, "end_step": 400, "id": "7c336016-0ae7-4269-bc60-a78bfb686164"}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface, moving downward from the peg tower."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut placed on the green base on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 401, "end_step": 515, "id": "86bec869-60b4-41d3-a39e-5e1b5b47d08b"}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green base and transports it to the position above a vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the vertical peg and lowers it to fit onto the peg until fully seated."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal nut seated on the vertical peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 516, "end_step": 595, "id": "64565085-7e81-4fc0-a050-aa6af9f4d882"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 596, "end_step": 815, "id": "900110eb-9e88-4272-a137-e87760bb4508"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it forward toward the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 638, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple vertical peg, moving the ring downward along the peg."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the leftmost purple peg of the stacking base and releases its grip."}, {"label": "goal", "start_step": 816, "end_step": 905, "id": "572dc56f-0fc5-4644-9e8c-385b596a36bc"}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal ring on the table in front of the stacking base."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table in front of the stacking base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical part on the black tabletop at the lower right of the pegboard without moving."}, {"label": "goal", "start_step": 906, "end_step": 995, "id": "6f9a9fdb-45e7-40e9-bfa6-dc2100b6270f"}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part from the tabletop and moves it to above the rightmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand fits the white hollow cylindrical part onto the rightmost purple peg of the pegboard and releases it."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white ring onto the right purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 996, "end_step": 1060, "id": "941d28be-e7e7-4d36-930e-3f6644f553fd"}, {"label": "subtasks", "start_step": 1012, "end_step": 1041, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table with fingers closing around it."}, {"label": "goal", "start_step": 1061, "end_step": 1170, "id": "734dd5b7-5738-4647-a5f6-bd73a8f3b54d"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the right purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the pegboard, fingers open and separate from the block."}, {"label": "goal", "start_step": 1171, "end_step": 1255, "id": "700057e5-25ec-4997-94e9-ee634d13ba4f"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers close and adjust around the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1256, "end_step": 1365, "id": "1b13b36a-c4ba-4dd5-b9ef-6d21c87dcd15"}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the table surface towards the wooden peg board."}, {"label": "subtasks", "start_step": 1282, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple vertical peg of the wooden base, lowering it into place."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple peg without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward and rightward from the area above the stacked blocks toward the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1366, "end_step": 1445, "id": "5a618cf6-ad78-416b-aa95-a8fd438d484b"}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the right table surface and lifts it off the table."}, {"label": "goal", "start_step": 1446, "end_step": 1530, "id": "7cd9576b-4827-4c77-a81c-963d1cac77f8"}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats slightly rightward away from the purple rod."}, {"label": "goal", "start_step": 1531, "end_step": 1590, "id": "a519e0fe-c9ce-4bcf-8266-4b74f4683793"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hollow cylindrical piece on the dark table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white cylindrical piece on the table, with fingers closing around the piece to form a stable grip."}, {"label": "goal", "start_step": 1591, "end_step": 1705, "id": "f1d4208e-ccdc-4d2a-a40e-3e6e8c8ca557"}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white cylindrical piece upward off the dark table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white cylindrical piece upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple peg, aligning the inner hole of the piece with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the white cylinder with a purple rod down onto the wooden base."}, {"label": "goal", "start_step": 1706, "end_step": 1770, "id": "c0659206-5ffb-4d4a-874e-9372a6f48756"}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green hollow block up from the right side of the black table surface."}, {"label": "goal", "start_step": 1771, "end_step": 1895, "id": "3aed174a-6c84-4428-859f-f7bc5a3fcda2"}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the green hollow block leftward to the position above the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hollow block onto the rightmost peg, aligning its hole with the peg and lowering it into fitting position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hollow block by gradually opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty next to the rightmost peg without moving."}, {"label": "home", "start_step": 1947, "end_step": 1980, "id": "sYgbAtCdlflhKZHPRJJVp"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the purple peg to the bottom, and releases the block with fingers opening."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the peg tower, with fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface, moving downward from the peg tower."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut placed on the green base on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green base and transports it to the position above a vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the vertical peg and lowers it to fit onto the peg until fully seated."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal nut seated on the vertical peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it forward toward the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 638, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple vertical peg, moving the ring downward along the peg."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the leftmost purple peg of the stacking base and releases its grip."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal ring on the table in front of the stacking base."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table in front of the stacking base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical part on the black tabletop at the lower right of the pegboard without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part from the tabletop and moves it to above the rightmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand fits the white hollow cylindrical part onto the rightmost purple peg of the pegboard and releases it."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white ring onto the right purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1012, "end_step": 1041, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the right purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the pegboard, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers close and adjust around the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the table surface towards the wooden peg board."}, {"label": "subtasks", "start_step": 1282, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple vertical peg of the wooden base, lowering it into place."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple peg without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward and rightward from the area above the stacked blocks toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the right table surface and lifts it off the table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats slightly rightward away from the purple rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hollow cylindrical piece on the dark table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white cylindrical piece on the table, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white cylindrical piece upward off the dark table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white cylindrical piece upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple peg, aligning the inner hole of the piece with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the white cylinder with a purple rod down onto the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green hollow block up from the right side of the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the green hollow block leftward to the position above the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hollow block onto the rightmost peg, aligning its hole with the peg and lowering it into fitting position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hollow block by gradually opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty next to the rightmost peg without moving."}], "episode_index": 1}
+{"source_uid": "d6b4d60551baec3d", "num_frames": 2150, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green block located on the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "d6ba5293-5bbd-42de-8e42-363be8ffbef8"}, {"label": "valid", "start_step": 0, "end_step": 2118, "id": "yRXIoi0YSP684Ln-IRRLn"}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block still without any observable movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 156, "end_step": 275, "id": "d38a4047-522f-484f-9348-2ca3ae9c86cb"}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg, aligning the block's central hole with the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 276, "end_step": 340, "id": "b33fda43-8fee-48e2-bce0-5a0c853d7c2c"}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 341, "end_step": 480, "id": "221e5b9e-8313-4c6e-9350-ac88b45d14ed"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}, {"label": "goal", "start_step": 481, "end_step": 560, "id": "03ca579b-390f-4113-9aca-d53da581db6a"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 561, "end_step": 680, "id": "6209a146-8c99-497a-b3f6-89219e81ee46"}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is properly fitted on the purple rod."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 681, "end_step": 860, "id": "e4726d6a-3741-435d-940c-d94b90c6d327"}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 728, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black table."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden board."}, {"label": "goal", "start_step": 861, "end_step": 960, "id": "88bfa048-6acb-40aa-8715-f1a8eb9e5b8a"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden board and fits it onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green block on the black tabletop."}, {"label": "goal", "start_step": 961, "end_step": 1025, "id": "9b127854-be33-4630-90c0-19c19d1eb9b2"}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the black tabletop."}, {"label": "goal", "start_step": 1026, "end_step": 1140, "id": "f0c7f3fd-dcbc-4056-9da5-d37f50a08b64"}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the green block onto the purple rod and then releases the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black tabletop."}, {"label": "goal", "start_step": 1141, "end_step": 1205, "id": "822fbda0-f7e7-4926-b015-7175bc9e3904"}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the tabletop."}, {"label": "goal", "start_step": 1206, "end_step": 1420, "id": "065a5641-7175-4d8f-93ef-eee2a19a7fd6"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal ring down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1421, "end_step": 1545, "id": "254980db-5c0c-4130-b7b8-6093bd466566"}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white cylindrical ring on the black tabletop."}, {"label": "subtasks", "start_step": 1478, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical ring on the black tabletop."}, {"label": "goal", "start_step": 1546, "end_step": 1655, "id": "9d72b781-4bfb-443c-8f74-9bd55c832c6b"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod, lowering it until the ring is fully fitted onto the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1656, "end_step": 1720, "id": "123de6e3-a9ff-496e-9405-6ab713825d69"}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1721, "end_step": 1865, "id": "3ef6ee52-642c-45b3-bc80-19f52350629d"}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1859, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table."}, {"label": "goal", "start_step": 1866, "end_step": 1965, "id": "a2b8ad9a-dbae-4ea5-9d6b-7a5fdeb8cfc4"}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green square block on the table without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green square block on the right table surface."}, {"label": "goal", "start_step": 1966, "end_step": 2080, "id": "2661e1e8-abef-4736-b2d7-125e00df35d3"}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the rightmost white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white pillar and fits it onto the pillar."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block placed on the white pillar."}, {"label": "home", "start_step": 2119, "end_step": 2149, "id": "r03VTVhAis-gIHQvFIuGJ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green block located on the left side of the wooden rack."}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block still without any observable movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg, aligning the block's central hole with the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is properly fitted on the purple rod."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 728, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black table."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden board."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden board and fits it onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green block on the black tabletop."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the black tabletop."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the green block onto the purple rod and then releases the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the tabletop."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal ring down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white cylindrical ring on the black tabletop."}, {"label": "subtasks", "start_step": 1478, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical ring on the black tabletop."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod, lowering it until the ring is fully fitted onto the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1859, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green square block on the table without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green square block on the right table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the rightmost white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white pillar and fits it onto the pillar."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block placed on the white pillar."}], "episode_index": 2}
+{"source_uid": "add0f6c5436ca9ab", "num_frames": 2225, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves left and downward with open fingers toward the green hexagonal block located at the front-left of the wooden peg board."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "9d0e30d5-8836-4953-9526-cfae58bfa64e"}, {"label": "valid", "start_step": 0, "end_step": 2192, "id": "-Frl2BbLnGIlFUlolAOLr"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight adjustments to finger positions to establish grip."}, {"label": "goal", "start_step": 131, "end_step": 285, "id": "05889125-7c26-4b94-9d50-530bd3b89648"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 172, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the held green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 278, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place_release: Right hand positions the white and green blocks onto the wooden rack, releasing fingers to leave the blocks stably supported on the rack."}, {"label": "goal", "start_step": 286, "end_step": 445, "id": "949e4eb2-0b8e-4e73-bb41-521bbec00500"}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from the wooden rack toward the white hexagonal nut on the table surface, making no contact with the nut."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily above the table surface without observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 446, "end_step": 565, "id": "6c8b6647-0f72-45ed-9995-38529af54db7"}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position above the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 488, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align its central hole with the purple peg, partially inserting the nut onto the peg."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until the nut is stably supported by the green base under the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: release: Right hand releases the white cylindrical nut mounted on the wooden rack, fingers opening to separate from the nut which stays on the rack post."}, {"label": "goal", "start_step": 566, "end_step": 735, "id": "b2bd2144-3bd7-402c-ba22-ca354e37372b"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 600, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small positional and finger adjustments to form a stable grip while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the black table surface, with no observable movement of the hand, fingers or the gripped nut."}, {"label": "goal", "start_step": 736, "end_step": 870, "id": "21fba161-1cdb-455a-875e-43c6c788fb74"}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white nut off the table and carries it upward toward the wooden peg board, stopping above the leftmost purple peg."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the white nut's position to align its central hole with the leftmost purple peg and lowers the nut to nest onto the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white nut seated on the existing lower white nut on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves forward and downward toward the white hexagonal nut resting on the black table surface in front of the wooden peg base, with fingers held in a slightly open position as it approaches the target."}, {"label": "goal", "start_step": 871, "end_step": 945, "id": "7f07b193-0015-4a9f-954d-83efb48ad4e8"}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface to establish a stable grip on the object."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, with no observable changes to hand position, finger posture, or nut placement."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand makes small adjustments to its fingers and wrist to stabilize the grasp on the white hexagonal nut resting on the table."}, {"label": "goal", "start_step": 946, "end_step": 1080, "id": "35bd58c4-f7e2-4899-8374-b8e126c125b5"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post and lowers the nut slightly to fit it onto the top of the post."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place: Right hand slides the white hexagonal nut down along the purple post until the nut rests stably on the surface of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut."}, {"label": "goal", "start_step": 1081, "end_step": 1140, "id": "2a34cb7e-c2aa-4e18-9e7a-005d691e37b3"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface with fingers open."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting grip until stable."}, {"label": "goal", "start_step": 1141, "end_step": 1255, "id": "cdf0c170-a998-4189-a91d-f0070eb9ab5f"}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: transport: Right hand carries the green hexagonal block toward the purple post on the wooden assembly base, positioning it above the post."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place: Right hand lowers the aligned green hexagonal block onto the purple post until the block is supported by the post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place_release: Right hand holds the green ring, seats it onto the purple vertical post and opens fingers to release the ring."}, {"label": "goal", "start_step": 1256, "end_step": 1335, "id": "54a3f1b5-38d5-42a7-bd48-08c5c949e131"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward from the block assembly toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger and wrist positions to establish a grip on the nut."}, {"label": "goal", "start_step": 1336, "end_step": 1475, "id": "326039a1-aff6-4a9c-9ad6-d6637f09dc8d"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making slight positional adjustments to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from above the wooden block set with fingers open, approaching the white hexagonal nut placed on the table near the right edge of the set."}, {"label": "goal", "start_step": 1476, "end_step": 1535, "id": "10c39681-5e77-49e3-b13a-8847a1e62ce7"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip slightly to form a stable hold on the nut."}, {"label": "goal", "start_step": 1536, "end_step": 1770, "id": "15a70ee3-a021-429c-a715-1bce8579e2ef"}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward to position it directly above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1582, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the wooden block set, fits the nut down onto the rod with small positional adjustments, opens fingers to release the nut resting on the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the light purple cylinder on the wooden base without moving."}, {"label": "goal", "start_step": 1771, "end_step": 1875, "id": "e44b47e3-c323-4a6a-a791-2622ed0babc1"}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: release: Right hand opens fingers to release the light purple cylinder, moving away from the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut to form a stable grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table without visible movement."}, {"label": "goal", "start_step": 1876, "end_step": 1970, "id": "560df1d0-989e-4785-a634-5f8b95b273e5"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the area above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, and fits the block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod until the block rests stably on the lower white block on the wooden stand, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 2017, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the green holed block resting on the dark table surface, approaching the block without making contact."}, {"label": "goal", "start_step": 1971, "end_step": 2035, "id": "32a800a8-0294-4c44-814a-c48542c07ac3"}, {"label": "subtasks", "start_step": 2018, "end_step": 2047, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green holed block on the table, adjusting finger positions to form a stable grasp while the block remains supported by the table."}, {"label": "goal", "start_step": 2036, "end_step": 2160, "id": "fbc65b5f-31e6-4154-b427-d333f96964af"}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green holed block completely off the table surface, transporting the block upward and leftward to the position directly above the purple-topped white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate_release: Right hand aligns the central hole of the green block with the purple-topped white cylinder, lowers the block to fit it securely onto the cylinder top, opening fingers to release the block from the grasp."}, {"label": "home", "start_step": 2193, "end_step": 2224, "id": "XDJ28fcwcrtw3PpPdsWIl"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves left and downward with open fingers toward the green hexagonal block located at the front-left of the wooden peg board."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight adjustments to finger positions to establish grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 172, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the held green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 278, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place_release: Right hand positions the white and green blocks onto the wooden rack, releasing fingers to leave the blocks stably supported on the rack."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from the wooden rack toward the white hexagonal nut on the table surface, making no contact with the nut."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily above the table surface without observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position above the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 488, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align its central hole with the purple peg, partially inserting the nut onto the peg."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until the nut is stably supported by the green base under the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: release: Right hand releases the white cylindrical nut mounted on the wooden rack, fingers opening to separate from the nut which stays on the rack post."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 600, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small positional and finger adjustments to form a stable grip while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the black table surface, with no observable movement of the hand, fingers or the gripped nut."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white nut off the table and carries it upward toward the wooden peg board, stopping above the leftmost purple peg."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the white nut's position to align its central hole with the leftmost purple peg and lowers the nut to nest onto the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white nut seated on the existing lower white nut on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves forward and downward toward the white hexagonal nut resting on the black table surface in front of the wooden peg base, with fingers held in a slightly open position as it approaches the target."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface to establish a stable grip on the object."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, with no observable changes to hand position, finger posture, or nut placement."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand makes small adjustments to its fingers and wrist to stabilize the grasp on the white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post and lowers the nut slightly to fit it onto the top of the post."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place: Right hand slides the white hexagonal nut down along the purple post until the nut rests stably on the surface of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface with fingers open."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting grip until stable."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: transport: Right hand carries the green hexagonal block toward the purple post on the wooden assembly base, positioning it above the post."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place: Right hand lowers the aligned green hexagonal block onto the purple post until the block is supported by the post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place_release: Right hand holds the green ring, seats it onto the purple vertical post and opens fingers to release the ring."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward from the block assembly toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger and wrist positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making slight positional adjustments to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from above the wooden block set with fingers open, approaching the white hexagonal nut placed on the table near the right edge of the set."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip slightly to form a stable hold on the nut."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward to position it directly above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1582, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the wooden block set, fits the nut down onto the rod with small positional adjustments, opens fingers to release the nut resting on the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the light purple cylinder on the wooden base without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: release: Right hand opens fingers to release the light purple cylinder, moving away from the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut to form a stable grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table without visible movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the area above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, and fits the block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod until the block rests stably on the lower white block on the wooden stand, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 2017, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the green holed block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2018, "end_step": 2047, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green holed block on the table, adjusting finger positions to form a stable grasp while the block remains supported by the table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green holed block completely off the table surface, transporting the block upward and leftward to the position directly above the purple-topped white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate_release: Right hand aligns the central hole of the green block with the purple-topped white cylinder, lowers the block to fit it securely onto the cylinder top, opening fingers to release the block from the grasp."}], "episode_index": 3}
+{"source_uid": "72a3584495f85cc8", "num_frames": 2594, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and slightly forward from the right side of the table toward the green cubic block on the table surface, keeping fingers open and not contacting the block."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "72b32abd-c25a-45db-975d-423c37a2ba07"}, {"label": "valid", "start_step": 0, "end_step": 2560, "id": "qmj1bCa4FezsSeTnereGs"}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green cubic block, with fingers closing to establish and adjust the grasp on the block."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 126, "end_step": 240, "id": "ccc04c0a-ae47-4659-a957-65d9114d1eb5"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it toward the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base, aligning and fitting it into place."}, {"label": "subtasks", "start_step": 172, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the purple peg of the wooden base and releases the piece."}, {"label": "goal", "start_step": 241, "end_step": 325, "id": "b90864ca-491e-4cc1-80e8-0332e3fb9923"}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table with empty hand."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 326, "end_step": 435, "id": "0288553f-4a2a-4fdc-8104-da2ee876d4e7"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table and transports it to the position above the left purple peg."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the left purple peg and inserts it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the left purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the front-right purple peg of the wooden base."}, {"label": "goal", "start_step": 436, "end_step": 495, "id": "8860d4ab-437d-4496-a7ea-4450c0b5e1ba"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the lower-left area of the table."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left area of the table with fingers closing."}, {"label": "goal", "start_step": 496, "end_step": 605, "id": "92df96ba-bf7c-4fde-bdd9-8bb3b22e6f61"}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg by aligning the hole and inserting it downward."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the purple rod inserted in the top white building block."}, {"label": "goal", "start_step": 606, "end_step": 680, "id": "0c27ed66-c3b0-48d0-9515-c0d424f8cc86"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the purple rod downward to the position above the front white hexagonal block on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the purple rod with the hole of the front white hexagonal block on the table."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 681, "end_step": 855, "id": "f4679c48-0de5-4cc4-9e9b-2d0c3725a4b2"}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it upward and leftward towards the wooden peg board."}, {"label": "subtasks", "start_step": 720, "end_step": 817, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg on the wooden base and lowers it onto the peg, making small positional adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal ring, leaving the ring seated on the purple peg."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upward and away from the purple peg after releasing the ring."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the green hexagonal block on the black table."}, {"label": "goal", "start_step": 856, "end_step": 915, "id": "db44a514-c532-496d-b752-0f4a14e5f385"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and moves the green hexagonal block from the table to above the right purple peg on the pegboard."}, {"label": "goal", "start_step": 916, "end_step": 1040, "id": "e231410a-c9d3-4282-b693-7ff198040f72"}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the right purple peg and slides it down onto the peg for assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the right peg of the wooden base."}, {"label": "goal", "start_step": 1041, "end_step": 1440, "id": "70f79078-9451-4128-b590-e3279b8095b6"}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower left area of the table."}, {"label": "subtasks", "start_step": 1088, "end_step": 1154, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps the white hexagonal block on the lower left area of the table, then releases it quickly."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves upward toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block with fingers closing around it."}, {"label": "subtasks", "start_step": 1200, "end_step": 1334, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the upper white hexagonal block off the table and transports it downward to a lower position."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the table surface and releases it."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward and away from the just-placed white hexagonal block."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the lowest white hexagonal block next to the green block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lowest white hexagonal block next to the green block with fingers adjusting to hold it."}, {"label": "goal", "start_step": 1441, "end_step": 1600, "id": "1d526a60-64df-42ca-9ccb-fabf66456293"}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the supporting surface and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1589, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple peg by aligning and lowering it along the peg."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the building block stack, with fingers opening."}, {"label": "goal", "start_step": 1601, "end_step": 1810, "id": "9a8a5650-9f5b-4419-b714-3ccb6ee738ba"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the upper white hexagonal block on the table slightly."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves slightly toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a hole on the right table surface, fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1811, "end_step": 2005, "id": "efc5819f-5a02-4537-8bca-cfed9175646e"}, {"label": "subtasks", "start_step": 1838, "end_step": 1851, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block with a hole off the table surface."}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block with a hole leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1994, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with a hole onto the purple vertical rod, adjusting position to fit the rod through the block's hole."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg of the wooden base without moving."}, {"label": "goal", "start_step": 2006, "end_step": 2095, "id": "d0392691-2ecc-4981-978d-0ae16c182306"}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple peg, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and toward the white hexagonal piece on the black table surface near the green cube."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing around the piece."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the dark table surface without moving."}, {"label": "goal", "start_step": 2096, "end_step": 2225, "id": "9981dba2-bd2b-450b-a265-ea7180c50027"}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple peg by aligning its central hole and lowering it onto the peg."}, {"label": "subtasks", "start_step": 2168, "end_step": 2219, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder with purple top on the wooden base, fingers open and separate from the cylinder."}, {"label": "goal", "start_step": 2226, "end_step": 2410, "id": "37b07325-755a-43a1-a6a2-be1b033f0bde"}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the green cube on the black table, not yet touching the cube."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the black table, fingers close around the cube."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_reorient: Right hand lifts the green cube slightly and rotates it about 180 degrees to make the hole face upward."}, {"label": "subtasks", "start_step": 2318, "end_step": 2331, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the rotated green cube back on the black table until it is supported by the table."}, {"label": "subtasks", "start_step": 2332, "end_step": 2347, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube on the black table, fingers open and separate from the cube."}, {"label": "subtasks", "start_step": 2348, "end_step": 2361, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty beside the green cube on the black table without moving."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves toward the green cube and grasps it, fingers close around the cube."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the black table without moving."}, {"label": "goal", "start_step": 2411, "end_step": 2520, "id": "93d5041d-9557-49a0-9c86-a5d99e357037"}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the rightmost white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2445, "end_step": 2519, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white pillar and fits the block onto the pillar."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers."}, {"label": "home", "start_step": 2561, "end_step": 2593, "id": "Q9cA3V1DZJiN8fioQVYDr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and slightly forward from the right side of the table toward the green cubic block on the table surface, keeping fingers open and not contacting the block."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green cubic block, with fingers closing to establish and adjust the grasp on the block."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it toward the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base, aligning and fitting it into place."}, {"label": "subtasks", "start_step": 172, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the purple peg of the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table with empty hand."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table and transports it to the position above the left purple peg."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the left purple peg and inserts it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the left purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the front-right purple peg of the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the lower-left area of the table."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left area of the table with fingers closing."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg by aligning the hole and inserting it downward."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the purple rod inserted in the top white building block."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the purple rod downward to the position above the front white hexagonal block on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the purple rod with the hole of the front white hexagonal block on the table."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it upward and leftward towards the wooden peg board."}, {"label": "subtasks", "start_step": 720, "end_step": 817, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg on the wooden base and lowers it onto the peg, making small positional adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal ring, leaving the ring seated on the purple peg."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upward and away from the purple peg after releasing the ring."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and moves the green hexagonal block from the table to above the right purple peg on the pegboard."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the right purple peg and slides it down onto the peg for assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the right peg of the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower left area of the table."}, {"label": "subtasks", "start_step": 1088, "end_step": 1154, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps the white hexagonal block on the lower left area of the table, then releases it quickly."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves upward toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block with fingers closing around it."}, {"label": "subtasks", "start_step": 1200, "end_step": 1334, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the upper white hexagonal block off the table and transports it downward to a lower position."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the table surface and releases it."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward and away from the just-placed white hexagonal block."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the lowest white hexagonal block next to the green block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lowest white hexagonal block next to the green block with fingers adjusting to hold it."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the supporting surface and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1589, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple peg by aligning and lowering it along the peg."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the building block stack, with fingers opening."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the upper white hexagonal block on the table slightly."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves slightly toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a hole on the right table surface, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1838, "end_step": 1851, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block with a hole off the table surface."}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block with a hole leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1994, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with a hole onto the purple vertical rod, adjusting position to fit the rod through the block's hole."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple peg, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and toward the white hexagonal piece on the black table surface near the green cube."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing around the piece."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple peg by aligning its central hole and lowering it onto the peg."}, {"label": "subtasks", "start_step": 2168, "end_step": 2219, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder with purple top on the wooden base, fingers open and separate from the cylinder."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the green cube on the black table, not yet touching the cube."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the black table, fingers close around the cube."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_reorient: Right hand lifts the green cube slightly and rotates it about 180 degrees to make the hole face upward."}, {"label": "subtasks", "start_step": 2318, "end_step": 2331, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the rotated green cube back on the black table until it is supported by the table."}, {"label": "subtasks", "start_step": 2332, "end_step": 2347, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube on the black table, fingers open and separate from the cube."}, {"label": "subtasks", "start_step": 2348, "end_step": 2361, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty beside the green cube on the black table without moving."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves toward the green cube and grasps it, fingers close around the cube."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the black table without moving."}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the rightmost white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2445, "end_step": 2519, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white pillar and fits the block onto the pillar."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers."}], "episode_index": 4}
+{"source_uid": "b727ba8e822088cf", "num_frames": 2285, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table, without touching the object."}, {"label": "goal", "start_step": 0, "end_step": 220, "id": "116a2dd9-a400-4762-87aa-653523c78e0b"}, {"label": "valid", "start_step": 0, "end_step": 2253, "id": "82cgN9esGcENSi0L5dcc8"}, {"label": "subtasks", "start_step": 98, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block on the black table, with fingers adjusting to form a stable grasp."}, {"label": "goal", "start_step": 221, "end_step": 460, "id": "1518825e-5fa5-4682-8815-15b8d2a24f1d"}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 374, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green block down onto the leftmost purple rod until it is fully fitted to the base."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green block and moves away from the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 461, "end_step": 480, "id": "264da28d-4c9f-4c44-bb08-f657362b6a8e"}, {"label": "goal", "start_step": 481, "end_step": 605, "id": "186c4714-cc2c-41d8-849e-68691b2cf4ed"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it towards the purple rod on the green base."}, {"label": "subtasks", "start_step": 518, "end_step": 621, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the green base."}, {"label": "goal", "start_step": 606, "end_step": 680, "id": "3b5336d2-5284-4f24-bd14-775ce5dc39d0"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop by closing its fingers."}, {"label": "goal", "start_step": 681, "end_step": 840, "id": "da5cb071-a4be-4c5d-8fba-e6afb5c0132d"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block, separating from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the upper block assembly position towards the white hexagonal block on the table near the wooden base."}, {"label": "goal", "start_step": 841, "end_step": 920, "id": "eec0eaec-9ccc-4a4a-a59d-ff0f64517400"}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts and grasps the white hexagonal block on the table near the wooden base, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "goal", "start_step": 921, "end_step": 1100, "id": "d5bf2b90-7fd0-4d61-8532-89319f9a39c9"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal object towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1027, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the purple peg without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple peg and moves fingers away."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1101, "end_step": 1165, "id": "3363e7d8-ebdb-4142-8ecd-8f940dcc36ea"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves down toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1166, "end_step": 1310, "id": "469609bb-7ebd-45f3-a315-9db55c1d0ae5"}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the green hexagonal block toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hexagonal block from its grip."}, {"label": "goal", "start_step": 1311, "end_step": 1400, "id": "6e8bb8db-0669-467b-a56f-5d9f61a5094f"}, {"label": "subtasks", "start_step": 1320, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black tabletop to adjust and form a stable grip."}, {"label": "goal", "start_step": 1401, "end_step": 1495, "id": "378b0513-8e2b-4bf3-8abe-5c6fe13d91f8"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it towards the peg on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the peg on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1496, "end_step": 1650, "id": "42e851ff-ed85-463b-b491-0fb85b67f98e"}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release_reach: Right hand releases the placed white cylindrical block and moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1649, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden base."}, {"label": "goal", "start_step": 1651, "end_step": 1820, "id": "0aff97a5-773c-4b30-9018-5d6e9e8fd827"}, {"label": "subtasks", "start_step": 1688, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block that is placed on the purple rod."}, {"label": "goal", "start_step": 1821, "end_step": 1910, "id": "4e9ac9de-1d67-43e9-8399-3c5aab8341a9"}, {"label": "subtasks", "start_step": 1830, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white cylinder with purple top into the hole on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand holds the white hexagonal object and moves it towards the purple rod on the wooden tray."}, {"label": "goal", "start_step": 1911, "end_step": 2030, "id": "24172a67-7b30-47d4-8d16-9520b25721e8"}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the green square block placed on the black table surface."}, {"label": "goal", "start_step": 2031, "end_step": 2090, "id": "8cde30b2-4751-47bc-891c-c38334ef26ae"}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black table."}, {"label": "goal", "start_step": 2091, "end_step": 2215, "id": "294d5ba0-87bf-4ac9-8992-dd04421b979f"}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it towards the white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green square block with the white pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green square block from its grip."}, {"label": "home", "start_step": 2254, "end_step": 2284, "id": "vc_807URdbZlj7BUykHRa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table, without touching the object."}, {"label": "subtasks", "start_step": 98, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block on the black table, with fingers adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 374, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green block down onto the leftmost purple rod until it is fully fitted to the base."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green block and moves away from the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it towards the purple rod on the green base."}, {"label": "subtasks", "start_step": 518, "end_step": 621, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the green base."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop by closing its fingers."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block, separating from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the upper block assembly position towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts and grasps the white hexagonal block on the table near the wooden base, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal object towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1027, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the purple peg without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple peg and moves fingers away."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves down toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the green hexagonal block toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black tabletop to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it towards the peg on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the peg on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release_reach: Right hand releases the placed white cylindrical block and moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1649, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block that is placed on the purple rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white cylinder with purple top into the hole on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand holds the white hexagonal object and moves it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it towards the white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green square block with the white pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green square block from its grip."}], "episode_index": 5}
+{"source_uid": "9d94f93d51d8f05c", "num_frames": 2657, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward and leftward from its initial raised position toward the green hexagonal block on the table near the wooden pegboard, with fingers held slightly extended."}, {"label": "goal", "start_step": 0, "end_step": 415, "id": "4585faba-8fdb-48d6-8255-ad1fd0bf07c4"}, {"label": "valid", "start_step": 0, "end_step": 2628, "id": "mennrKmMTIGk-HFqjP5bv"}, {"label": "subtasks", "start_step": 98, "end_step": 337, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the target green hexagonal block on the table, making fine finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers, or the gripped block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand adjusts its finger positions to establish a stable grasp around the green hexagonal block resting on the black table surface near the wooden assembly base."}, {"label": "goal", "start_step": 416, "end_step": 550, "id": "333c6cfb-3568-402d-a032-79ebe7971f39"}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block fully off the black table surface and moves it upward to the position directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 524, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple post, lowering the block slightly to fit it onto the post."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple post until it rests stably on the surface of the wooden assembly base."}, {"label": "goal", "start_step": 551, "end_step": 645, "id": "f58b0848-4f41-4eb3-ad2f-5f873d8a716f"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward and forward from the block assembly area toward the white hexagonal nut on the table surface, without contacting the nut."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand fingers close around the white hexagonal nut on the table, adjusting finger contact points to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand moves upward while holding the grasped white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand makes small finger adjustments to establish a stable grip on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 646, "end_step": 765, "id": "16e652d8-9292-4329-9141-e2256a4e0c54"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and transports it upward to the position directly above the target purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple peg, lowers the nut to fit securely onto the peg, opens its fingers to release the fully assembled nut."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from the position near the wooden assembly stand to approach the white hexagonal nut on the black table surface, remaining empty before making contact with the nut."}, {"label": "goal", "start_step": 766, "end_step": 835, "id": "267282cf-226a-4a50-9cef-99a7c462ed54"}, {"label": "subtasks", "start_step": 802, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut stays on the table surface."}, {"label": "goal", "start_step": 836, "end_step": 950, "id": "beff3136-7269-43bb-ba2a-4425ff2e57ef"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves it upward and forward to position it directly above the empty purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg below, moves the nut downward to fit it onto the peg with small positional adjustments to complete the nesting fit."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted onto the purple peg, separating the hand from the nut."}, {"label": "goal", "start_step": 951, "end_step": 1423, "id": "471b59f5-471a-4bd7-9b66-ac03ae55d0c5"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from above the wooden block set toward the white hexagonal nut placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip, with the nut still resting on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and horizontally to position it directly above the target purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1244, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and adjusts its position to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to fall onto the table surface below."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from above the wooden base toward the white hexagonal nut that fell onto the table near the base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1387, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut on the table surface without observable movement."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to form a stable closed grip around the white hexagonal block resting on the table adjacent to the wooden assembly base."}, {"label": "goal", "start_step": 1424, "end_step": 1548, "id": "7ff2df28-122a-4a31-815f-8717cbb50f55"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves it upward to a position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the tip of the purple rod, fits the block onto the rod to establish the assembly connection with slight positional adjustments."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: place_release: Right hand slides the white hexagonal block down the purple rod until it rests securely on the stacked blocks below, opens fingers to release the block and break contact."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from above the wooden assembly board toward the left green hexagonal block on the table surface, maintaining a slightly open finger posture throughout the movement."}, {"label": "goal", "start_step": 1549, "end_step": 1623, "id": "44d52459-d3ae-4b3a-aab5-bd29623f0018"}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target left green hexagonal block on the table, fingers gradually close and adjust contact positions to establish a grip on the block."}, {"label": "goal", "start_step": 1624, "end_step": 1723, "id": "ff3aba0e-1e2c-4169-965c-95b7dd7d7a5c"}, {"label": "subtasks", "start_step": 1642, "end_step": 1657, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it onto the rod, assembling the block onto the stand."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the green block placed on the wooden assembly base, breaking contact with the block."}, {"label": "goal", "start_step": 1724, "end_step": 1788, "id": "c5ebe796-624a-4f62-b920-212409020b8c"}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward with empty fingers towards the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward until the block fully leaves the black table surface."}, {"label": "goal", "start_step": 1789, "end_step": 1888, "id": "adb0acc3-d6ef-4d7d-b8ab-415890f6759a"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: transport: Right hand carries the grasped white hexagonal block to move toward the purple post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and lowers the block to fit it onto the post to complete the assembly alignment."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the white block on the stacked block assembly, breaking contact with the block."}, {"label": "goal", "start_step": 1889, "end_step": 1963, "id": "366f038f-4e9d-4b4c-ac48-47342cb74449"}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward from the stacked block area to approach the upper white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1987, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand positions near the upper white hexagonal block, fingers closing to make contact and adjust grip to form a stable grasp."}, {"label": "goal", "start_step": 1964, "end_step": 2183, "id": "5ab16584-e972-43ac-a66a-3cb9f9b72ae4"}, {"label": "subtasks", "start_step": 1988, "end_step": 2001, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, lowering the block to fit it onto the rod to complete the nested assembly."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2152, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release grip on the white hexagonal block fitted on the purple rod, separating fingers from the block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: retreat: Right hand moves empty away from the wooden block stand after releasing the white hexagonal block."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden base and fits the block onto the rod to complete the assembly."}, {"label": "goal", "start_step": 2184, "end_step": 2278, "id": "5d1d6fc2-4356-46a2-be99-1915b26e8d38"}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves empty toward the loose white hexagonal block placed on the table surface next to the green block, approaching the target block without establishing contact."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making slight contact adjustments to form a grasp on the block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 2279, "end_step": 2428, "id": "b0d13d62-2728-4b0e-95eb-fb2d35b3cdf2"}, {"label": "subtasks", "start_step": 2288, "end_step": 2339, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2340, "end_step": 2391, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it onto the existing block stack on the rod."}, {"label": "subtasks", "start_step": 2392, "end_step": 2407, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, which rests stably on the block stack."}, {"label": "subtasks", "start_step": 2408, "end_step": 2414, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: retreat: Right hand moves empty downward and away from the wooden block base."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the green cube on the table surface with fingers spread open."}, {"label": "goal", "start_step": 2429, "end_step": 2458, "id": "a74520d5-b2e1-4c94-a855-803b3005fe01"}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the green cube on the table to form a stable grip, with the cube remaining on the table surface."}, {"label": "goal", "start_step": 2459, "end_step": 2588, "id": "da62ff21-a362-40d4-829e-9b0bf9c6b677"}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and moves it upward and leftward to the position above the empty slot on the wooden block set."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: place_release: Right hand lowers the green cube onto the white cylindrical post on the wooden block set, makes small positional adjustments to align the cube with the post until the cube is stably supported, and opens fingers to separate from the cube."}, {"label": "home", "start_step": 2629, "end_step": 2656, "id": "WRKF5O7NijIyJSbFZ_qTz"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward and leftward from its initial raised position toward the green hexagonal block on the table near the wooden pegboard, with fingers held slightly extended."}, {"label": "subtasks", "start_step": 98, "end_step": 337, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the target green hexagonal block on the table, making fine finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers, or the gripped block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand adjusts its finger positions to establish a stable grasp around the green hexagonal block resting on the black table surface near the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block fully off the black table surface and moves it upward to the position directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 524, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple post, lowering the block slightly to fit it onto the post."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple post until it rests stably on the surface of the wooden assembly base."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward and forward from the block assembly area toward the white hexagonal nut on the table surface, without contacting the nut."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand fingers close around the white hexagonal nut on the table, adjusting finger contact points to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand moves upward while holding the grasped white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand makes small finger adjustments to establish a stable grip on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and transports it upward to the position directly above the target purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple peg, lowers the nut to fit securely onto the peg, opens its fingers to release the fully assembled nut."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from the position near the wooden assembly stand to approach the white hexagonal nut on the black table surface, remaining empty before making contact with the nut."}, {"label": "subtasks", "start_step": 802, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut stays on the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves it upward and forward to position it directly above the empty purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg below, moves the nut downward to fit it onto the peg with small positional adjustments to complete the nesting fit."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted onto the purple peg, separating the hand from the nut."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from above the wooden block set toward the white hexagonal nut placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip, with the nut still resting on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and horizontally to position it directly above the target purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1244, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and adjusts its position to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to fall onto the table surface below."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from above the wooden base toward the white hexagonal nut that fell onto the table near the base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1387, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut on the table surface without observable movement."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to form a stable closed grip around the white hexagonal block resting on the table adjacent to the wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves it upward to a position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the tip of the purple rod, fits the block onto the rod to establish the assembly connection with slight positional adjustments."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: place_release: Right hand slides the white hexagonal block down the purple rod until it rests securely on the stacked blocks below, opens fingers to release the block and break contact."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from above the wooden assembly board toward the left green hexagonal block on the table surface, maintaining a slightly open finger posture throughout the movement."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target left green hexagonal block on the table, fingers gradually close and adjust contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1657, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it onto the rod, assembling the block onto the stand."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the green block placed on the wooden assembly base, breaking contact with the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward with empty fingers towards the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward until the block fully leaves the black table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: transport: Right hand carries the grasped white hexagonal block to move toward the purple post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and lowers the block to fit it onto the post to complete the assembly alignment."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the white block on the stacked block assembly, breaking contact with the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward from the stacked block area to approach the upper white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1987, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand positions near the upper white hexagonal block, fingers closing to make contact and adjust grip to form a stable grasp."}, {"label": "subtasks", "start_step": 1988, "end_step": 2001, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, lowering the block to fit it onto the rod to complete the nested assembly."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2152, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release grip on the white hexagonal block fitted on the purple rod, separating fingers from the block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: retreat: Right hand moves empty away from the wooden block stand after releasing the white hexagonal block."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden base and fits the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves empty toward the loose white hexagonal block placed on the table surface next to the green block, approaching the target block without establishing contact."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making slight contact adjustments to form a grasp on the block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2288, "end_step": 2339, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2340, "end_step": 2391, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it onto the existing block stack on the rod."}, {"label": "subtasks", "start_step": 2392, "end_step": 2407, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, which rests stably on the block stack."}, {"label": "subtasks", "start_step": 2408, "end_step": 2414, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: retreat: Right hand moves empty downward and away from the wooden block base."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the green cube on the table surface with fingers spread open."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the green cube on the table to form a stable grip, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and moves it upward and leftward to the position above the empty slot on the wooden block set."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: place_release: Right hand lowers the green cube onto the white cylindrical post on the wooden block set, makes small positional adjustments to align the cube with the post until the cube is stably supported, and opens fingers to separate from the cube."}], "episode_index": 6}
+{"source_uid": "bf8d9aa2f878b250", "num_frames": 2354, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal part below the left side of the peg board, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "22a782d8-ea61-4e4e-b346-e859e4eda5f3"}, {"label": "valid", "start_step": 0, "end_step": 2327, "id": "UbSjG8T6TOkSpsLkzWzhb"}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "goal", "start_step": 131, "end_step": 225, "id": "3c4b5d11-af3a-4f91-8c51-4655a15d2c46"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it rightward and upward to align with the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost peg of the wooden pegboard, lowering the block to fit its hole onto the peg."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downward along the peg until it rests on the surface of the wooden pegboard."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the green block on the pegboard."}, {"label": "goal", "start_step": 226, "end_step": 325, "id": "56a9e699-f87a-4ce4-9d37-0f529716decb"}, {"label": "subtasks", "start_step": 240, "end_step": 247, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical component onto the purple pegs of the wooden base and releases the component."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the table surface with slight grip adjustments."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table surface without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 326, "end_step": 470, "id": "3cbdfe78-c597-49b6-bf05-2f6130612c32"}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position above the leftmost post of the rack."}, {"label": "subtasks", "start_step": 368, "end_step": 427, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost post of the rack and fits it down onto the post."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the leftmost post of the rack without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table."}, {"label": "goal", "start_step": 471, "end_step": 585, "id": "48b8a05d-536b-4e36-a874-8b4f3eaa0b2b"}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 586, "end_step": 730, "id": "9082712d-ea80-4995-bc2d-32a0fa89f720"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white block onto the purple peg of the stacking toy and releases the block."}, {"label": "goal", "start_step": 731, "end_step": 815, "id": "ef4815a9-c7a2-4320-8991-dd1646bc8283"}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the stacking toy."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the black table without moving."}, {"label": "goal", "start_step": 816, "end_step": 940, "id": "ac888cdc-919c-4e2d-8fc1-4ec8d2b788e7"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hollow hexagonal block from the black table to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block with the purple peg on the wooden base by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hollow cylinder onto the purple rod on the wooden base and releases the cylinder."}, {"label": "goal", "start_step": 941, "end_step": 1010, "id": "dcbe2415-9ad5-441e-a21a-f30d8a5d5349"}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1011, "end_step": 1330, "id": "ef1d1d7c-e2db-4775-a978-5d8cdc501523"}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the middle front purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 1035, "end_step": 1184, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the middle front purple peg and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the peg with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upward from the green block on the pegboard."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the purple rod of the wooden base and releases the piece."}, {"label": "goal", "start_step": 1331, "end_step": 1420, "id": "d3ea6fab-b1a9-485e-9555-6202cb2954f8"}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table with fingers slightly open."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1421, "end_step": 1590, "id": "3e3956b1-c0cd-4e9a-a17b-e9f115809a4c"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1508, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 1591, "end_step": 1675, "id": "cd3f752a-0107-4871-882f-7673ad8a7674"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward towards the upper loose white hexagonal piece on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper loose white hexagonal piece on the table, with fingers closing and adjusting grip."}, {"label": "goal", "start_step": 1676, "end_step": 1785, "id": "fb5f0957-a0a0-4974-962e-512470c290b2"}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal piece with the purple rod and lowers it to mate the piece onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1807, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal piece, with fingers opening and separating from the piece."}, {"label": "goal", "start_step": 1786, "end_step": 2010, "id": "427947c7-0105-4c27-86fa-9185a09c34ef"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block back onto the table and releases it."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table surface again."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand briefly grasps the white hexagonal block and then releases it."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand slowly approaches the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block from the lower right area of the table to the position above the purple rod on the wooden board."}, {"label": "goal", "start_step": 2011, "end_step": 2130, "id": "abc990a9-a569-43ec-b76e-c0098151c8fd"}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block with the purple rod by aligning and inserting it onto the rod, then releases the block."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position above the wooden block rack toward the green cubic block on the black tabletop."}, {"label": "goal", "start_step": 2131, "end_step": 2200, "id": "c379f2d6-d44c-4779-8470-55dbd1d6892b"}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the tabletop, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2201, "end_step": 2285, "id": "256c175a-9000-40cd-a95a-76214b9a6601"}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the tabletop and transports it to the position above the front-right white post on the wooden rack."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the hole of the green cubic block with the front-right white post on the wooden rack, fits the block onto the post, and releases the block."}, {"label": "home", "start_step": 2328, "end_step": 2353, "id": "7SuaViLIhB506vprkYUuz"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal part below the left side of the peg board, with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it rightward and upward to align with the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost peg of the wooden pegboard, lowering the block to fit its hole onto the peg."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downward along the peg until it rests on the surface of the wooden pegboard."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the green block on the pegboard."}, {"label": "subtasks", "start_step": 240, "end_step": 247, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical component onto the purple pegs of the wooden base and releases the component."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the table surface with slight grip adjustments."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table surface without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position above the leftmost post of the rack."}, {"label": "subtasks", "start_step": 368, "end_step": 427, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost post of the rack and fits it down onto the post."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the leftmost post of the rack without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white block onto the purple peg of the stacking toy and releases the block."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the stacking toy."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hollow hexagonal block from the black table to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block with the purple peg on the wooden base by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hollow cylinder onto the purple rod on the wooden base and releases the cylinder."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the middle front purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 1035, "end_step": 1184, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the middle front purple peg and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the peg with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upward from the green block on the pegboard."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the purple rod of the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table with fingers slightly open."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1508, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward towards the upper loose white hexagonal piece on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper loose white hexagonal piece on the table, with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal piece with the purple rod and lowers it to mate the piece onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1807, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal piece, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block back onto the table and releases it."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table surface again."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand briefly grasps the white hexagonal block and then releases it."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand slowly approaches the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block from the lower right area of the table to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block with the purple rod by aligning and inserting it onto the rod, then releases the block."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position above the wooden block rack toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the tabletop, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the tabletop and transports it to the position above the front-right white post on the wooden rack."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the hole of the green cubic block with the front-right white post on the wooden rack, fits the block onto the post, and releases the block."}], "episode_index": 7}
+{"source_uid": "2c2a592095a010e1", "num_frames": 2264, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves forward from the right side towards the green hexagonal block in front of the wooden base, no contact with the block during movement."}, {"label": "goal", "start_step": 0, "end_step": 165, "id": "cb1e58ec-458d-42a0-bb39-7d1c8df13618"}, {"label": "valid", "start_step": 0, "end_step": 2234, "id": "7n9IErtoT5E4e2CCZOg5o"}, {"label": "subtasks", "start_step": 82, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand touches the green hexagonal block, closes fingers and adjusts hand position slightly to form a stable grasp on the block."}, {"label": "goal", "start_step": 166, "end_step": 320, "id": "181af6d9-6554-4f9d-8e99-c3f1ff07beed"}, {"label": "subtasks", "start_step": 188, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green block from the black table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand fits the green block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white block on top of the purple peg."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place: Right hand places the white block onto the green block on the purple peg."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the wooden base area towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 321, "end_step": 425, "id": "1d13010a-a360-498b-9ec2-dd0c49e5b7b7"}, {"label": "subtasks", "start_step": 345, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the black table."}, {"label": "goal", "start_step": 426, "end_step": 560, "id": "bec62acd-5808-44c9-945e-c87af09e4811"}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to above the leftmost purple rod of the rack."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block that has been placed on the purple rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 561, "end_step": 655, "id": "0fea1d0a-505c-41f1-9675-bf1cc7e6317e"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 656, "end_step": 825, "id": "2acf0419-4c4b-4c79-a2a7-7713f0660c47"}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block inserted on the purple rod without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 826, "end_step": 910, "id": "ac57076a-d2f3-400d-9571-b8e76b124054"}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical block just mated on the purple rod."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 911, "end_step": 1040, "id": "9307cedf-f72b-4d4b-9247-837a16c2f169"}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the white hexagonal block upwards until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack, moving it to the position right above the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod and adjusting to fit."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place: Right hand places the white cylindrical block onto the peg on the wooden base."}, {"label": "goal", "start_step": 1041, "end_step": 1125, "id": "b7c13cdc-79bd-44ff-84d0-99e800d3167a"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green square block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand contacts the green square block, fingers close and adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 1126, "end_step": 1230, "id": "2b3d5d21-2688-4437-8293-127af7d42a91"}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the green cubic block above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the green cubic block onto the purple rod, pressing it down to fit onto the wooden base."}, {"label": "goal", "start_step": 1231, "end_step": 1315, "id": "f4db9500-6dce-4262-9602-cb30bdc8dad0"}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches toward the white ring block on the table near the green block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white ring block on the table."}, {"label": "goal", "start_step": 1316, "end_step": 1450, "id": "bee9f8bf-4e40-4d9c-b11d-dc76c5e60be5"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats upwards away from the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1451, "end_step": 1520, "id": "1dcae019-0e89-4d55-97bb-f6a008ec64cf"}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downwards towards the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1521, "end_step": 1645, "id": "95c29cb6-db61-4f48-a955-474d04a0165e"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1646, "end_step": 1705, "id": "c9b53b5b-2dc4-4887-9364-3ce6a02060d9"}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hex block on the table surface."}, {"label": "goal", "start_step": 1706, "end_step": 1830, "id": "07725435-b3e2-481d-b8ed-6a9d0bf735d5"}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hex block on the table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hex block from the table and transports it to above the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hex block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hex block after it is fitted onto the purple rod."}, {"label": "goal", "start_step": 1831, "end_step": 1995, "id": "c1b9bfb7-4339-45f8-a043-0208b4fae88a"}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press_release: Right hand presses the white cylindrical block on the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1890, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green cubic block on the tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reorient: Right hand rotates the green cubic block slightly on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green cubic block upward off the black tabletop."}, {"label": "goal", "start_step": 1996, "end_step": 2175, "id": "cace13f7-5fd3-48bd-a4c0-f2263e4e6d79"}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the green ring towards the white bottles on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green ring with the top of the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the green ring down onto the white bottle until it is properly fitted."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green ring and separates from the bottle."}, {"label": "home", "start_step": 2235, "end_step": 2263, "id": "Cz84JGNlFOGnx8lsWD9_t"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves forward from the right side towards the green hexagonal block in front of the wooden base, no contact with the block during movement."}, {"label": "subtasks", "start_step": 82, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand touches the green hexagonal block, closes fingers and adjusts hand position slightly to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 188, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green block from the black table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand fits the green block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white block on top of the purple peg."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place: Right hand places the white block onto the green block on the purple peg."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the wooden base area towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 345, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to above the leftmost purple rod of the rack."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block that has been placed on the purple rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block inserted on the purple rod without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical block just mated on the purple rod."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the white hexagonal block upwards until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack, moving it to the position right above the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod and adjusting to fit."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place: Right hand places the white cylindrical block onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green square block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand contacts the green square block, fingers close and adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the green cubic block above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the green cubic block onto the purple rod, pressing it down to fit onto the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches toward the white ring block on the table near the green block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white ring block on the table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats upwards away from the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downwards towards the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hex block on the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hex block on the table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hex block from the table and transports it to above the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hex block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hex block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press_release: Right hand presses the white cylindrical block on the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1890, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green cubic block on the tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reorient: Right hand rotates the green cubic block slightly on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green cubic block upward off the black tabletop."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the green ring towards the white bottles on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green ring with the top of the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the green ring down onto the white bottle until it is properly fitted."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green ring and separates from the bottle."}], "episode_index": 8}
+{"source_uid": "0573761851a47485", "num_frames": 1943, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves from its initial raised position on the right toward the area adjacent to the light brown wooden base, staying empty as it approaches the target objects."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "a1d653fb-795f-42cc-8f7b-28db0d3c4edb"}, {"label": "valid", "start_step": 0, "end_step": 1914, "id": "vv9omi2TihVjwXWYB6MD8"}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand positions close to the green hexagonal block near the wooden base, closing fingers and making small wrist and finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand holds the green hexagonal block on the table surface, lifts it upward completely off the table, and transports it to the position directly above the purple assembly peg on the wooden base."}, {"label": "goal", "start_step": 136, "end_step": 245, "id": "5e795c3c-c211-4ed2-bdba-07cc67bfc046"}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand adjusts the position of the green hexagonal block slightly, aligns its central hole with the purple peg and fits the hole onto the top of the peg to establish the assembly alignment."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg, and places it steadily onto the top surface of the lower green block fixed on the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from the area near the wooden block stand toward the white hexagonal nut placed on the table surface in front of the stand, with no contact to the target nut yet."}, {"label": "goal", "start_step": 246, "end_step": 340, "id": "f58655b6-1c8d-47ba-95aa-98507bc1c3de"}, {"label": "subtasks", "start_step": 278, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions and gradually closes fingers around the target white hexagonal nut on the table to establish a stable grasp, with the nut remaining resting on the table surface throughout the movement."}, {"label": "goal", "start_step": 341, "end_step": 455, "id": "47f093d6-0656-4929-a917-db9af989c863"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple peg, making slight position adjustments to fit the nut onto the top of the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut partially fitted on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg, placing it onto the lower white nut on the peg until the nut is stably supported."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward and forward with an empty open hand, approaching the white hexagonal nut on the black table surface without making contact."}, {"label": "goal", "start_step": 456, "end_step": 530, "id": "8e47b7dd-9407-47b0-86ed-8ce37d726bd6"}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, gradually closing fingers and adjusting hand position to form a grip around the nut."}, {"label": "goal", "start_step": 531, "end_step": 675, "id": "25622c1e-7aa6-431c-afb1-e90cce06a91b"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, and lowers the nut to fit onto the rod to complete assembly alignment."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod of the wooden assembly stand without any observable movement."}, {"label": "subtasks", "start_step": 675, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from above the wooden assembly base toward the white hexagonal block resting on the table in front of the base, with fingers held in an open posture as it approaches the block."}, {"label": "goal", "start_step": 676, "end_step": 740, "id": "440b3501-6b96-4689-9d4a-2941eb8cb3e2"}, {"label": "goal", "start_step": 741, "end_step": 855, "id": "ab7b716d-a89f-471b-8b85-1c69f999684f"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block, adjusting finger contact to form a stable grip on the block while the block remains on the table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving the block upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple peg, moving the block slightly downward to fit onto the peg."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place_release: Right hand lowers the white hexagonal block down onto the wooden base surface, opening its fingers to release the block and separate the hand from the block."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from the position above the wooden stacking toy toward the green hexagonal nut resting on the black table surface, without making contact with the nut."}, {"label": "goal", "start_step": 856, "end_step": 915, "id": "18746f0b-28f2-46da-9d11-a89a8da5b28f"}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table to establish a stable grip."}, {"label": "goal", "start_step": 916, "end_step": 1030, "id": "3093a815-9823-4316-80be-114117efd032"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and transports it upward to the position directly above the empty purple rod on the wooden stacking base."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the top of the purple rod, and fits the nut onto the rod to form an assembly connection."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand moves the green hexagonal nut downward along the purple rod until the nut rests stably on the supporting white block on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downwards from the area above the wooden block base toward the white hexagonal nut resting on the dark table surface, with fingers extended in preparation for grasping."}, {"label": "goal", "start_step": 1031, "end_step": 1085, "id": "43a4e0c2-e65f-4545-b49d-4258ce786037"}, {"label": "subtasks", "start_step": 1058, "end_step": 1101, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, adjusting finger positions slightly to form a stable grip on the nut while the nut remains supported by the table."}, {"label": "goal", "start_step": 1086, "end_step": 1250, "id": "4eed5d80-c024-484f-bd6b-7e6662b080b2"}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark table surface, then moves the nut upwards and toward the purple vertical peg mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple vertical peg on the wooden base, lowering the nut onto the peg and making small positional adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the green base of the wooden stand, separating from the block."}, {"label": "goal", "start_step": 1251, "end_step": 1330, "id": "a5f27e5f-beed-47bd-84e3-b70439595a89"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block placed on the black table next to the wooden stand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table, adjusting finger positions to form a grip on the block."}, {"label": "goal", "start_step": 1331, "end_step": 1445, "id": "6b082e82-5a0a-42a9-a537-c316a9333cfc"}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the small wooden piece, moving it upward and leftward to the position above the empty slot on the wooden block set."}, {"label": "subtasks", "start_step": 1402, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand lowers the white hexagonal block downward, setting it into the empty slot on the wooden block set until the block is fully supported by the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from the area near the wooden block base toward the white hexagonal block on the table surface, making no contact with the block."}, {"label": "goal", "start_step": 1446, "end_step": 1495, "id": "7cd3b421-7507-4843-8e22-04fba667089d"}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1496, "end_step": 1680, "id": "49a5292c-cc45-40e1-ab2a-50ddf951f8c1"}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to a position directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top end of the purple vertical rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1641, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without any movement, keeping the block at the upper portion of the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple vertical rod until the block rests on the wooden base, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface, with fingers slightly open as it approaches the target."}, {"label": "goal", "start_step": 1681, "end_step": 1740, "id": "40dbedbc-0334-45ac-9bcc-108bbccf89e1"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to establish a stable grip on the object."}, {"label": "goal", "start_step": 1741, "end_step": 1860, "id": "3f2b534b-ac12-47b0-85b2-482f9f54e97b"}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: transport: Right hand carries the green cube upward and leftward to position it directly above the top of the rightmost white bottle on the wooden holder."}, {"label": "subtasks", "start_step": 1808, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the green cube with the top of the white bottle and lowers the cube to fit it snugly onto the bottle top."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: release: Right hand opens its fingers to release the green cube fitted on the bottle top, separating the hand from the placed cube."}, {"label": "home", "start_step": 1915, "end_step": 1942, "id": "xWepIsAJ9W-_0mZpRIXW4"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves from its initial raised position on the right toward the area adjacent to the light brown wooden base, staying empty as it approaches the target objects."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand positions close to the green hexagonal block near the wooden base, closing fingers and making small wrist and finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand holds the green hexagonal block on the table surface, lifts it upward completely off the table, and transports it to the position directly above the purple assembly peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand adjusts the position of the green hexagonal block slightly, aligns its central hole with the purple peg and fits the hole onto the top of the peg to establish the assembly alignment."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg, and places it steadily onto the top surface of the lower green block fixed on the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from the area near the wooden block stand toward the white hexagonal nut placed on the table surface in front of the stand, with no contact to the target nut yet."}, {"label": "subtasks", "start_step": 278, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions and gradually closes fingers around the target white hexagonal nut on the table to establish a stable grasp, with the nut remaining resting on the table surface throughout the movement."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple peg, making slight position adjustments to fit the nut onto the top of the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut partially fitted on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg, placing it onto the lower white nut on the peg until the nut is stably supported."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward and forward with an empty open hand, approaching the white hexagonal nut on the black table surface without making contact."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, gradually closing fingers and adjusting hand position to form a grip around the nut."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, and lowers the nut to fit onto the rod to complete assembly alignment."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod of the wooden assembly stand without any observable movement."}, {"label": "subtasks", "start_step": 675, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from above the wooden assembly base toward the white hexagonal block resting on the table in front of the base, with fingers held in an open posture as it approaches the block."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block, adjusting finger contact to form a stable grip on the block while the block remains on the table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving the block upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple peg, moving the block slightly downward to fit onto the peg."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place_release: Right hand lowers the white hexagonal block down onto the wooden base surface, opening its fingers to release the block and separate the hand from the block."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from the position above the wooden stacking toy toward the green hexagonal nut resting on the black table surface, without making contact with the nut."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and transports it upward to the position directly above the empty purple rod on the wooden stacking base."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the top of the purple rod, and fits the nut onto the rod to form an assembly connection."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand moves the green hexagonal nut downward along the purple rod until the nut rests stably on the supporting white block on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downwards from the area above the wooden block base toward the white hexagonal nut resting on the dark table surface, with fingers extended in preparation for grasping."}, {"label": "subtasks", "start_step": 1058, "end_step": 1101, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, adjusting finger positions slightly to form a stable grip on the nut while the nut remains supported by the table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark table surface, then moves the nut upwards and toward the purple vertical peg mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple vertical peg on the wooden base, lowering the nut onto the peg and making small positional adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the green base of the wooden stand, separating from the block."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block placed on the black table next to the wooden stand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table, adjusting finger positions to form a grip on the block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the small wooden piece, moving it upward and leftward to the position above the empty slot on the wooden block set."}, {"label": "subtasks", "start_step": 1402, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand lowers the white hexagonal block downward, setting it into the empty slot on the wooden block set until the block is fully supported by the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from the area near the wooden block base toward the white hexagonal block on the table surface, making no contact with the block."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to a position directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top end of the purple vertical rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1641, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without any movement, keeping the block at the upper portion of the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple vertical rod until the block rests on the wooden base, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface, with fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to establish a stable grip on the object."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: transport: Right hand carries the green cube upward and leftward to position it directly above the top of the rightmost white bottle on the wooden holder."}, {"label": "subtasks", "start_step": 1808, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the green cube with the top of the white bottle and lowers the cube to fit it snugly onto the bottle top."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: release: Right hand opens its fingers to release the green cube fitted on the bottle top, separating the hand from the placed cube."}], "episode_index": 9}
+{"source_uid": "a80704da6b83871f", "num_frames": 2466, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 14, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture from upright closed position to open position at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal object on the table in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "34592d2f-1d36-45d8-bde0-e3075864b68c"}, {"label": "valid", "start_step": 0, "end_step": 2435, "id": "GK6uY_YsTDj_7sW8f9T77"}, {"label": "subtasks", "start_step": 15, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal object on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal object on the table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the green hexagonal object upward off the table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand carries the green hexagonal object upward to align with the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand fits the green hexagonal object onto the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases its grasp from the green hexagonal object on the purple rod."}, {"label": "goal", "start_step": 151, "end_step": 290, "id": "3c7da680-110a-4c0b-ab64-2df5dfc78217"}, {"label": "subtasks", "start_step": 165, "end_step": 171, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and moves it to the position above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 188, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost peg to adjust its position."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white-capped purple rod components on the wooden rack."}, {"label": "goal", "start_step": 291, "end_step": 940, "id": "68621da7-90ab-48af-82fd-a583f72c2bcf"}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 405, "end_step": 457, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}, {"label": "subtasks", "start_step": 458, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates and slightly moves the white hexagonal block on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 548, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: push: Right hand pushes the white hexagonal block leftward across the tabletop."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, with fingers separating from the block."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward to approach the white hexagonal block near the left hand."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block again, adjusting finger positions to stabilize the grip."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 788, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}, {"label": "subtasks", "start_step": 848, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 941, "end_step": 1080, "id": "43d80fbf-4030-4d69-b51b-6d1bf42ed66e"}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 982, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the rack, sliding it down along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1081, "end_step": 1170, "id": "c2fbe94d-7cc0-4016-9061-3d6c335f31aa"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward and leftward toward the white hexagonal block on the lower left of the table, with the hand remaining empty."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower left of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the black table."}, {"label": "goal", "start_step": 1171, "end_step": 1335, "id": "8c484afb-b37a-47d8-97b6-d371f2e2a1c2"}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1297, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach_grasp: Right hand reaches toward the lower white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1336, "end_step": 1370, "id": "82e37ad7-6352-43dd-a231-f4ab4950a358"}, {"label": "goal", "start_step": 1371, "end_step": 1480, "id": "fd4fcb42-e1a7-4278-8434-2eb64ae0cacf"}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the front-right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the front-right purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place_release: Right hand places the white hollow hexagonal block onto the purple peg of the wooden base, releasing it upon placement."}, {"label": "goal", "start_step": 1481, "end_step": 1550, "id": "2f063c82-454e-4ae8-b5d6-a716bc81695c"}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to reach toward the green hollow hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1551, "end_step": 1675, "id": "8035a02b-91e1-499a-9073-cab40491ad6d"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod by lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1676, "end_step": 1755, "id": "051931b3-0d57-4ba0-ad5c-98f263e7b4ba"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1756, "end_step": 1885, "id": "a522c241-6579-4b1c-8d58-759537a70526"}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden board and moves downward to fit the piece onto the rod."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal piece on the purple rod and retreats slightly upward away from the piece."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part on the right side of the wooden tray, with fingers opening and separating from the part."}, {"label": "goal", "start_step": 1886, "end_step": 1940, "id": "4d401569-b760-48db-a7f4-5b15c9704d60"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves empty toward the upper white hexagonal hollow part on the black table."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the upper white hexagonal hollow part on the table, with fingers closing and adjusting grip posture."}, {"label": "goal", "start_step": 1941, "end_step": 2060, "id": "e647ef49-fff2-43e1-a7c8-11e7b78e9393"}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the table and transports it to above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal hollow part with the purple rod and inserts it onto the rod to form an assembly relationship."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal hollow part along the purple rod until it is stably supported by the wooden tray."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal hollow part, with fingers fully opening and separating from the part."}, {"label": "goal", "start_step": 2061, "end_step": 2120, "id": "af38b6da-88fb-4a77-aaaa-6a893b46b469"}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward and rightward from the area near the purple rod to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2092, "end_step": 2129, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2121, "end_step": 2225, "id": "0c043c3b-5f72-4205-be0c-86d98b08ae23"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white bottle with a purple top on the wooden rack, fingers opening to separate from the bottle."}, {"label": "goal", "start_step": 2226, "end_step": 2295, "id": "fd1107a6-4a0b-4fb8-aa37-9871750af053"}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green perforated block on the black table without moving."}, {"label": "goal", "start_step": 2296, "end_step": 2395, "id": "5bf1d6ed-a26c-455b-8a02-82a41a896b76"}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green perforated block off the table and transports it toward the rightmost white pillar with a purple top on the wooden base."}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green perforated block with the rightmost white pillar and fits it downward onto the pillar to complete assembly."}, {"label": "subtasks", "start_step": 2378, "end_step": 2399, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the green perforated block by opening its fingers, fully separating from the block."}, {"label": "home", "start_step": 2436, "end_step": 2465, "id": "JnUWCaLfsjTbtVWUEewY9"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 14, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture from upright closed position to open position at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal object on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 15, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal object on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal object on the table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the green hexagonal object upward off the table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand carries the green hexagonal object upward to align with the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand fits the green hexagonal object onto the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases its grasp from the green hexagonal object on the purple rod."}, {"label": "subtasks", "start_step": 165, "end_step": 171, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and moves it to the position above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 188, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost peg to adjust its position."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white-capped purple rod components on the wooden rack."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 405, "end_step": 457, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}, {"label": "subtasks", "start_step": 458, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates and slightly moves the white hexagonal block on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 548, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: push: Right hand pushes the white hexagonal block leftward across the tabletop."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, with fingers separating from the block."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward to approach the white hexagonal block near the left hand."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block again, adjusting finger positions to stabilize the grip."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 788, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}, {"label": "subtasks", "start_step": 848, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 982, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the rack, sliding it down along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward and leftward toward the white hexagonal block on the lower left of the table, with the hand remaining empty."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower left of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the black table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1297, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach_grasp: Right hand reaches toward the lower white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the front-right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the front-right purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place_release: Right hand places the white hollow hexagonal block onto the purple peg of the wooden base, releasing it upon placement."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to reach toward the green hollow hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod by lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden board and moves downward to fit the piece onto the rod."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal piece on the purple rod and retreats slightly upward away from the piece."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part on the right side of the wooden tray, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves empty toward the upper white hexagonal hollow part on the black table."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the upper white hexagonal hollow part on the table, with fingers closing and adjusting grip posture."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the table and transports it to above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal hollow part with the purple rod and inserts it onto the rod to form an assembly relationship."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal hollow part along the purple rod until it is stably supported by the wooden tray."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal hollow part, with fingers fully opening and separating from the part."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward and rightward from the area near the purple rod to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2092, "end_step": 2129, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white bottle with a purple top on the wooden rack, fingers opening to separate from the bottle."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green perforated block on the black table without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green perforated block off the table and transports it toward the rightmost white pillar with a purple top on the wooden base."}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green perforated block with the rightmost white pillar and fits it downward onto the pillar to complete assembly."}, {"label": "subtasks", "start_step": 2378, "end_step": 2399, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the green perforated block by opening its fingers, fully separating from the block."}], "episode_index": 10}
+{"source_uid": "618dc615f03e137e", "num_frames": 2164, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "424c6efc-33ff-4ad4-b2d2-cb145cc09b77"}, {"label": "valid", "start_step": 0, "end_step": 2136, "id": "dB6fETQct_xQsgNpRzZDN"}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 126, "end_step": 255, "id": "78dc0c8d-6d53-4b5f-8ec5-6f57ef6df123"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it towards the target purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_press: Right hand aligns the green cube with the purple pillar and presses it down along the pillar until it reaches the base."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 256, "end_step": 325, "id": "4a98bda1-fac7-4913-9091-89702daa199f"}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form stable grip."}, {"label": "goal", "start_step": 326, "end_step": 465, "id": "962cbeeb-abd1-4e07-9ee7-2163f6018001"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upwards until it is completely off the table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block upwards and towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the peg."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 466, "end_step": 540, "id": "f62c2a38-d3ad-4d71-b03c-f7b804d95a97"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block located on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it towards the wooden rack with purple rods."}, {"label": "goal", "start_step": 541, "end_step": 705, "id": "ce40b74e-4c81-430e-9dfc-5073dbeab1ce"}, {"label": "subtasks", "start_step": 570, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats from the wooden rack after inserting the white hexagonal block."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table next to the wooden rack, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 706, "end_step": 740, "id": "83eac4a6-5aa6-4336-aebd-615db980aa5b"}, {"label": "goal", "start_step": 741, "end_step": 850, "id": "7281e24d-86a1-4a20-a7cd-d83112c3c47c"}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 772, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, places it onto the rod, then releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple post on the wooden base."}, {"label": "goal", "start_step": 851, "end_step": 910, "id": "0bfcf26d-89d5-46ae-8983-15ab2c71cf1c"}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green ring on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green ring on the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it toward the wooden base."}, {"label": "goal", "start_step": 911, "end_step": 1075, "id": "3ea15e04-b7c2-4ee6-b4f8-c518ff5128c4"}, {"label": "subtasks", "start_step": 938, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green ring onto the purple post on the wooden base."}, {"label": "goal", "start_step": 1076, "end_step": 1150, "id": "ea3c2595-2aa1-468d-a139-0eeff699425e"}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1151, "end_step": 1250, "id": "6e97d382-3a00-40d3-a499-087d684499e0"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block stacked on the wooden base."}, {"label": "goal", "start_step": 1251, "end_step": 1320, "id": "2f60c5c8-fc51-4fdb-a729-2538da9e138f"}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "goal", "start_step": 1321, "end_step": 1660, "id": "0e259c9e-3ba7-4f65-807b-d8bf31d5b3ab"}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the light brown wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1559, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it downwards onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block mounted on the purple rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block downwards along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the dark tabletop."}, {"label": "goal", "start_step": 1661, "end_step": 1750, "id": "469c77ae-d2f2-480a-8e88-83a2e8248ac0"}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "goal", "start_step": 1751, "end_step": 1855, "id": "4487ac43-c930-429b-9dc7-0e4649c58fc9"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple peg and fits it onto the peg to complete assembly."}, {"label": "goal", "start_step": 1856, "end_step": 1925, "id": "571993b7-0f2c-47af-af57-8c5c3406ff34"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green square block on the table."}, {"label": "goal", "start_step": 1926, "end_step": 2080, "id": "d7ee1732-d803-43b7-a8c9-280f8d57d5ee"}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hollow square block from the table and transports it to above the white bottle with a purple protruding rod on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hollow square block with the purple rod of the white bottle and lowers the block to mate it onto the bottle."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green hollow square block that is fitted on the white bottle."}, {"label": "home", "start_step": 2137, "end_step": 2163, "id": "w73dfHCtFap6D-xQXOOii"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed in front of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it towards the target purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_press: Right hand aligns the green cube with the purple pillar and presses it down along the pillar until it reaches the base."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upwards until it is completely off the table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block upwards and towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the peg."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block located on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 570, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats from the wooden rack after inserting the white hexagonal block."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table next to the wooden rack, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 772, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, places it onto the rod, then releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green ring on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green ring on the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green ring onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block stacked on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the light brown wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1559, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it downwards onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block mounted on the purple rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block downwards along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the dark tabletop."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green square block on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hollow square block from the table and transports it to above the white bottle with a purple protruding rod on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hollow square block with the purple rod of the white bottle and lowers the block to mate it onto the bottle."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green hollow square block that is fitted on the white bottle."}], "episode_index": 11}
+{"source_uid": "d985788bf2cfb9da", "num_frames": 1883, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: idle: Right hand remains empty at the right side of the home position without obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "cc433ce8-fb2b-43f9-9904-594b436223e4"}, {"label": "valid", "start_step": 0, "end_step": 1848, "id": "ehy8EpsZkikbHescK_1vO"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves leftward toward the green hexagonal block near the wooden base, with fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making small positional adjustments of the wrist and fingers to establish a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand adjusts finger position and closes fingers to grasp the green hexagonal block resting on the table in front of the wooden assembly base."}, {"label": "goal", "start_step": 151, "end_step": 260, "id": "2d085d7d-31ca-41b7-94f9-658bbc4df705"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface, moves it upward and toward the wooden base to position it directly above the leftmost purple rod."}, {"label": "subtasks", "start_step": 195, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the leftmost purple rod, sliding the block down the rod to fit it onto the assembly."}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the assembled green hexagonal block on the purple rod."}, {"label": "goal", "start_step": 261, "end_step": 320, "id": "54e72ac6-a423-47ba-a9c7-efee196afb0b"}, {"label": "subtasks", "start_step": 262, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward and forward from its position above the wooden peg board toward the white hexagonal nut on the black table surface, keeping fingers open during the approach."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to finger positions to establish a stable grip on the nut as it rests on the table."}, {"label": "goal", "start_step": 321, "end_step": 435, "id": "015c7df2-d1fa-4462-9136-eef9627b47a2"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, fully separating the nut from the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut back toward the wooden peg board, moving the nut to the position directly above the empty purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowers the nut to fit it securely onto the peg, and opens its fingers to release the nut now supported by the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper assembly area toward the white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 436, "end_step": 505, "id": "9e685ddb-4ba4-4f03-b136-3d68aafb5b91"}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor grip adjustments to secure the object while it remains on the table."}, {"label": "goal", "start_step": 506, "end_step": 640, "id": "cffd1ece-c506-4c60-8dd9-7f9a2263030d"}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the secured white hexagonal nut fully off the table surface and transports it upward toward the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit onto the peg, establishing the assembled connection."}, {"label": "subtasks", "start_step": 622, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple peg without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it to fit onto the purple peg on the wooden stand, and opens fingers to release the stably supported block."}, {"label": "goal", "start_step": 641, "end_step": 710, "id": "5f24c46d-5a26-4ab8-998e-2a01d5723708"}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut placed on the table in front of the wooden stand, approaching the target nut."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making fine adjustments to form a stable grip."}, {"label": "goal", "start_step": 711, "end_step": 870, "id": "52730b18-3c46-4dc5-89a0-2e52c7f958f2"}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: place_release: Right hand lowers the white hexagonal block downward to place it onto the empty purple peg, aligning the block's hole with the peg until the block rests stably on the peg, opening fingers to release the block."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: retreat: Right hand moves empty downward away from the placed white block on the purple peg."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the table surface near the front edge of the wooden base, approaching the block without yet establishing contact."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the green hexagonal block upward off the black table surface with a stable grip."}, {"label": "goal", "start_step": 871, "end_step": 875, "id": "6d8328cf-bb61-48fa-bba7-a33667285bf0"}, {"label": "goal", "start_step": 876, "end_step": 960, "id": "a09235e5-1476-4df4-aa4f-f4c3d9427995"}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand transports the lifted green hexagonal block rightward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: idle: Right hand remains empty above the wooden block stack without observable movement."}, {"label": "goal", "start_step": 961, "end_step": 1030, "id": "771223b9-2e4d-41f8-a65b-848fd752adc8"}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward with empty fingers toward the white hexagonal nut placed on the dark table surface next to the green block."}, {"label": "subtasks", "start_step": 1012, "end_step": 1041, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact points to form a stable grasp."}, {"label": "goal", "start_step": 1031, "end_step": 1130, "id": "1ce6b395-e526-4186-92a7-5d4721ccfb06"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, then lowers the nut to fit it onto the rod and seat it on the stacked block below."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens fingers to release the seated white hexagonal nut, breaking contact with the nut on the rod."}, {"label": "goal", "start_step": 1131, "end_step": 1210, "id": "5b45e4ee-aca4-4ed0-8f08-e28fee556bc1"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand, kept empty, moves downward and rightward from the area above the stacked white and green blocks toward the small white hexagonal part near the right side of the wooden base, knocking over the purple vertical stick during movement, with fingers remaining open."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal part on the table to establish a grasp, with the wrist remaining nearly stationary."}, {"label": "goal", "start_step": 1211, "end_step": 1325, "id": "b20e5ac4-a72d-429b-9499-6a480ac5f1ec"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward and leftward toward the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden holder, makes slight rotational and positional adjustments, and inserts the block into the slot to fit securely with the base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1327, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the fully inserted white hexagonal block from its grasp."}, {"label": "goal", "start_step": 1326, "end_step": 1380, "id": "76fb7e98-46f6-4d42-8c14-8b191ed4cdf7"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper right position next to the block stack, approaching the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table."}, {"label": "goal", "start_step": 1381, "end_step": 1590, "id": "822314cd-3bfe-44bc-80ec-f5c6b9f864f6"}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air, moving it to the position directly above the purple cylindrical post on the block stack."}, {"label": "subtasks", "start_step": 1432, "end_step": 1544, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple cylindrical post, then moves the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut as the nut slides down the purple post."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: idle: Right hand remains empty next to the top of the purple post without obvious large displacement."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward and rightward toward the small green cube on the table with open fingers, making no contact with the cube."}, {"label": "goal", "start_step": 1591, "end_step": 1655, "id": "ecc700ab-f2e7-45d0-9757-19125385d750"}, {"label": "subtasks", "start_step": 1642, "end_step": 1657, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the small green cube resting on the table to form a stable grasp."}, {"label": "goal", "start_step": 1656, "end_step": 1800, "id": "401dea3b-17e7-4e69-be5c-3768c4252436"}, {"label": "subtasks", "start_step": 1658, "end_step": 1671, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand carries the green cube upward and leftward to the position directly above the purple post on the stacked block assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1791, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand adjusts the orientation and position of the green cube to align its central hole with the purple post, fitting the cube onto the post."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green cube secured on the purple post, separating the hand from the cube."}, {"label": "home", "start_step": 1849, "end_step": 1882, "id": "yuAybA0icqYGGbfZIf4Re"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: idle: Right hand remains empty at the right side of the home position without obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves leftward toward the green hexagonal block near the wooden base, with fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making small positional adjustments of the wrist and fingers to establish a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand adjusts finger position and closes fingers to grasp the green hexagonal block resting on the table in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface, moves it upward and toward the wooden base to position it directly above the leftmost purple rod."}, {"label": "subtasks", "start_step": 195, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the leftmost purple rod, sliding the block down the rod to fit it onto the assembly."}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the assembled green hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 262, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward and forward from its position above the wooden peg board toward the white hexagonal nut on the black table surface, keeping fingers open during the approach."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to finger positions to establish a stable grip on the nut as it rests on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, fully separating the nut from the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut back toward the wooden peg board, moving the nut to the position directly above the empty purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowers the nut to fit it securely onto the peg, and opens its fingers to release the nut now supported by the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper assembly area toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor grip adjustments to secure the object while it remains on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the secured white hexagonal nut fully off the table surface and transports it upward toward the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit onto the peg, establishing the assembled connection."}, {"label": "subtasks", "start_step": 622, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple peg without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it to fit onto the purple peg on the wooden stand, and opens fingers to release the stably supported block."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut placed on the table in front of the wooden stand, approaching the target nut."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making fine adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: place_release: Right hand lowers the white hexagonal block downward to place it onto the empty purple peg, aligning the block's hole with the peg until the block rests stably on the peg, opening fingers to release the block."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: retreat: Right hand moves empty downward away from the placed white block on the purple peg."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the table surface near the front edge of the wooden base, approaching the block without yet establishing contact."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the green hexagonal block upward off the black table surface with a stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand transports the lifted green hexagonal block rightward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: idle: Right hand remains empty above the wooden block stack without observable movement."}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward with empty fingers toward the white hexagonal nut placed on the dark table surface next to the green block."}, {"label": "subtasks", "start_step": 1012, "end_step": 1041, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact points to form a stable grasp."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, then lowers the nut to fit it onto the rod and seat it on the stacked block below."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens fingers to release the seated white hexagonal nut, breaking contact with the nut on the rod."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand, kept empty, moves downward and rightward from the area above the stacked white and green blocks toward the small white hexagonal part near the right side of the wooden base, knocking over the purple vertical stick during movement, with fingers remaining open."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal part on the table to establish a grasp, with the wrist remaining nearly stationary."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward and leftward toward the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden holder, makes slight rotational and positional adjustments, and inserts the block into the slot to fit securely with the base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1327, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the fully inserted white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper right position next to the block stack, approaching the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air, moving it to the position directly above the purple cylindrical post on the block stack."}, {"label": "subtasks", "start_step": 1432, "end_step": 1544, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple cylindrical post, then moves the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut as the nut slides down the purple post."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: idle: Right hand remains empty next to the top of the purple post without obvious large displacement."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward and rightward toward the small green cube on the table with open fingers, making no contact with the cube."}, {"label": "subtasks", "start_step": 1642, "end_step": 1657, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the small green cube resting on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1658, "end_step": 1671, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand carries the green cube upward and leftward to the position directly above the purple post on the stacked block assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1791, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand adjusts the orientation and position of the green cube to align its central hole with the purple post, fitting the cube onto the post."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green cube secured on the purple post, separating the hand from the cube."}], "episode_index": 12}
+{"source_uid": "c8212cd2a98185cf", "num_frames": 1890, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand raises slightly and extends its fingers, moving toward the center of the table while remaining empty. | Right hand: reach: Right hand moves from the right side of the table toward the green cubic block below the wooden rack, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "87499f92-523f-4fdc-a592-a270d5da9e4c"}, {"label": "valid", "start_step": 0, "end_step": 1859, "id": "jE63BJ_Une7m47RyPDES7"}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green cubic block below the wooden rack, with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table to the left of the wooden peg base."}, {"label": "goal", "start_step": 131, "end_step": 240, "id": "faa6e6a6-563e-4d0d-8409-e5885ef3ecb5"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base by lowering it along the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg base without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal piece on the black table surface."}, {"label": "goal", "start_step": 241, "end_step": 305, "id": "5228bb56-cfa0-4bc9-9da1-674e111b1c66"}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 306, "end_step": 430, "id": "21bb8e1e-2488-4ca4-8538-539ca39f7935"}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward to the area above the purple pegs on the wooden rack."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal piece with the purple peg and inserts the piece onto the peg to form an assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece downward along the purple peg to press it firmly into place."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening upward."}, {"label": "goal", "start_step": 431, "end_step": 495, "id": "80248ac1-a60a-4c71-96f8-b8d5b34aab6e"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "goal", "start_step": 496, "end_step": 600, "id": "63330a21-79ed-4f29-be57-ceb930b2abce"}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward and rightward toward the rack peg."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the rack peg by sliding it downward along the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the rack peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table near the wooden peg base, with no contact yet."}, {"label": "goal", "start_step": 601, "end_step": 655, "id": "8e507621-ce8e-441e-ae9a-cb1250a7215f"}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, fingers close and adjust to form a stable grasp."}, {"label": "goal", "start_step": 656, "end_step": 860, "id": "da909a63-46e5-4cbb-8db1-0449d6bd218d"}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward and toward the rightmost purple peg on the wooden base, arriving above the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 810, "end_step": 877, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block on the purple peg, until the hand is fully separated from the block."}, {"label": "goal", "start_step": 861, "end_step": 1000, "id": "eb7f71d5-802c-4429-b431-57e5c4aac98d"}, {"label": "subtasks", "start_step": 878, "end_step": 891, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1001, "end_step": 1095, "id": "ab09f4c2-8bc1-4a89-a327-4f4b219b4f50"}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base, aligning the central hole and lowering the block down to fit."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple peg, opening fingers to separate from the block."}, {"label": "goal", "start_step": 1096, "end_step": 1160, "id": "66ffb6d2-ff86-4d9e-820e-803d336579be"}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal perforated piece on the table surface, staying empty."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal perforated piece on the table surface, with fingers closing around the piece."}, {"label": "goal", "start_step": 1161, "end_step": 1255, "id": "6204d89b-ed98-4ccf-948f-52961af42766"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal perforated piece from the table surface and moves it upward and leftward toward the wooden peg board."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal perforated piece with the purple peg on the wooden board and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal perforated piece on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring block onto the purple vertical rod of the wooden base and releases its grip."}, {"label": "goal", "start_step": 1256, "end_step": 1330, "id": "767a63b1-d5e9-4696-9019-a643f82d0f7a"}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 1331, "end_step": 1430, "id": "2bf5b653-ba44-4880-a691-08641a7223db"}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden rack, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1431, "end_step": 1500, "id": "c2c9f9ae-5724-414c-a500-fed07839329f"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1499, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward from the right side of the table toward the wooden block tray."}, {"label": "goal", "start_step": 1501, "end_step": 1595, "id": "880f9f98-7623-4f40-8298-9f44a34afb1e"}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray, aligning the block's hole with the rod and moving downward to complete the fitting."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps and adjusts the white cylinder with green section on the wooden rack, then releases it."}, {"label": "goal", "start_step": 1596, "end_step": 1705, "id": "1804f6ca-7c28-468c-bfe8-f68c6687844f"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the right table surface, with fingers closing and adjusting to form a stable grip while the block stays on the table."}, {"label": "goal", "start_step": 1706, "end_step": 1815, "id": "347f000e-ef1e-4604-b4eb-aabbc52f97ce"}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the rightmost peg of the cylinder board."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost peg on the board and moves it downward to fit the block onto the peg."}, {"label": "home", "start_step": 1860, "end_step": 1889, "id": "o1WdZLdM87twFqHFzNROJ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand raises slightly and extends its fingers, moving toward the center of the table while remaining empty. | Right hand: reach: Right hand moves from the right side of the table toward the green cubic block below the wooden rack, with fingers slightly open."}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green cubic block below the wooden rack, with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table to the left of the wooden peg base."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base by lowering it along the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg base without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward to the area above the purple pegs on the wooden rack."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal piece with the purple peg and inserts the piece onto the peg to form an assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece downward along the purple peg to press it firmly into place."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening upward."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward and rightward toward the rack peg."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the rack peg by sliding it downward along the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the rack peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table near the wooden peg base, with no contact yet."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, fingers close and adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward and toward the rightmost purple peg on the wooden base, arriving above the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 810, "end_step": 877, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block on the purple peg, until the hand is fully separated from the block."}, {"label": "subtasks", "start_step": 878, "end_step": 891, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base, aligning the central hole and lowering the block down to fit."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple peg, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal perforated piece on the table surface, staying empty."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal perforated piece on the table surface, with fingers closing around the piece."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal perforated piece from the table surface and moves it upward and leftward toward the wooden peg board."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal perforated piece with the purple peg on the wooden board and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal perforated piece on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring block onto the purple vertical rod of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden rack, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1499, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward from the right side of the table toward the wooden block tray."}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray, aligning the block's hole with the rod and moving downward to complete the fitting."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps and adjusts the white cylinder with green section on the wooden rack, then releases it."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the right table surface, with fingers closing and adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the rightmost peg of the cylinder board."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost peg on the board and moves it downward to fit the block onto the peg."}], "episode_index": 13}
+{"source_uid": "4dc1ec904c9e85c7", "num_frames": 1851, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "f02c8e88-8329-44b6-a8d5-5136640982cd"}, {"label": "valid", "start_step": 0, "end_step": 1821, "id": "PiVaE3yEu8vfLqBARVm2o"}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 131, "end_step": 275, "id": "43731d94-371b-47a3-801e-d38419814a31"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand aligns the green block with the purple peg, inserts it down onto the peg, then releases the block."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base."}, {"label": "goal", "start_step": 276, "end_step": 340, "id": "c7d9e63b-2d37-47f0-a8fb-31a0c7c16af6"}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it upward toward the wooden base."}, {"label": "goal", "start_step": 341, "end_step": 445, "id": "d2aeb326-4e54-471a-8efb-d29ffef2d33e"}, {"label": "subtasks", "start_step": 368, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "goal", "start_step": 446, "end_step": 515, "id": "11218024-c499-48df-bbdf-29f681451f0f"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 516, "end_step": 655, "id": "cedfeedb-5de3-41a8-b9ca-b006bc295512"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left purple rod of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple rod by aligning the central hole with the rod and pushing the block downwards."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats upwards away from the assembled block on the purple rod."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 656, "end_step": 720, "id": "22ff2569-cf10-4d68-9754-53dad8675208"}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white ring on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the black table with fingers closing."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the black tabletop and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 721, "end_step": 845, "id": "9d4fb32e-ec98-4a12-8e72-a06e3b936dbd"}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand inserts the white ring onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white ring placed on the purple rod."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden peg base toward the green block on the table."}, {"label": "goal", "start_step": 846, "end_step": 900, "id": "6e843368-0376-4a1a-bc79-8c7de5cb4021"}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 901, "end_step": 1030, "id": "28237424-1eb4-4b87-a401-f28330c5da77"}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block off the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand lowers the green block onto the peg of the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg on the wooden base."}, {"label": "goal", "start_step": 1031, "end_step": 1105, "id": "c1e46a4d-6ed6-43c9-bbf3-fa942af21afa"}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats from the wooden base area towards the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches and starts to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1106, "end_step": 1290, "id": "cbd536d5-e188-4550-9017-77593be53b09"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1148, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, inserts it onto the rod and presses it down to complete the assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1291, "end_step": 1355, "id": "caa2f17f-9816-411c-a370-0e38132b9ab7"}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1356, "end_step": 1450, "id": "6992660c-2352-4d61-95d3-99eed956fd0e"}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1451, "end_step": 1515, "id": "cd0a7492-92cd-4906-a5be-c695d6aaa87f"}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1516, "end_step": 1625, "id": "ef28c140-816b-4780-a023-db815f768f65"}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "goal", "start_step": 1626, "end_step": 1685, "id": "09b1cb51-ad38-4df7-9546-b7f23c103a68"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 1686, "end_step": 1785, "id": "99ad51dc-b502-40af-9d26-0f73be4e9abd"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green cubic block up away from the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green cubic block towards the front-right white column on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green cubic block with the top of the front-right white column and fits it onto the column."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens its fingers to release the green cubic block and moves away from the block."}, {"label": "home", "start_step": 1822, "end_step": 1850, "id": "Saj93iVGk3hvFUD02OheG"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand aligns the green block with the purple peg, inserts it down onto the peg, then releases the block."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left purple rod of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple rod by aligning the central hole with the rod and pushing the block downwards."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats upwards away from the assembled block on the purple rod."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white ring on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the black table with fingers closing."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the black tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand inserts the white ring onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white ring placed on the purple rod."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden peg base toward the green block on the table."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block off the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand lowers the green block onto the peg of the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats from the wooden base area towards the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches and starts to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1148, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, inserts it onto the rod and presses it down to complete the assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green cubic block up away from the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green cubic block towards the front-right white column on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green cubic block with the top of the front-right white column and fits it onto the column."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens its fingers to release the green cubic block and moves away from the block."}], "episode_index": 14}
+{"source_uid": "3896e544385fe1d6", "num_frames": 2654, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty on the right side of the table without obvious displacement or rotation."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "efc9efa9-69a3-41cf-847f-87102ef36b0b"}, {"label": "valid", "start_step": 0, "end_step": 2622, "id": "hWBF4Vo3_LVZq0X3ffE90"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the green hexagonal block near the wooden base on the table, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the green hexagonal block near the wooden base, with fingers closing and adjusting position to establish a stable grip on the block."}, {"label": "goal", "start_step": 121, "end_step": 225, "id": "2a0afd4a-cd19-48b5-be7d-0fbd371f114c"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is fully seated on the purple peg."}, {"label": "goal", "start_step": 226, "end_step": 290, "id": "23b6dc15-635a-4a84-b389-1bef5396278c"}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the table, with fingers held open."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to form a stable grip on the nut."}, {"label": "goal", "start_step": 291, "end_step": 380, "id": "153671eb-e1a3-4c33-8c6d-e3c1bd4c98cb"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut after the nut is fitted onto the purple peg."}, {"label": "goal", "start_step": 381, "end_step": 445, "id": "a83f89d1-048a-4e3b-baaf-7bce81de250c"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves down empty from the wooden block rack area toward the front white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table."}, {"label": "goal", "start_step": 446, "end_step": 560, "id": "8647802b-bd15-4670-9e49-75fb5ebdcd63"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward toward the empty purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the held white hexagonal nut with the empty purple peg on the wooden rack and fits the nut down onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut seated on the purple peg, breaking contact with the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut placed on the table in front of the wooden stacking base."}, {"label": "goal", "start_step": 561, "end_step": 615, "id": "d857bf17-0855-4ca6-8acc-40f315689abb"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table support surface."}, {"label": "goal", "start_step": 616, "end_step": 735, "id": "cf111641-81cd-4f07-8505-807a662af542"}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and backward to the position directly above the right purple post on the stacking base."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal nut to align its central hole with the purple post below."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple post for support, opening fingers to release the grasped nut."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed on the black table surface, with fingers held slightly open."}, {"label": "goal", "start_step": 736, "end_step": 790, "id": "edafd668-68de-4fcf-8702-556572c24ced"}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to form a stable grip."}, {"label": "goal", "start_step": 791, "end_step": 895, "id": "6f00ef42-f12c-4aac-a964-0da64a8be3c5"}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal nut fitted on the purple peg without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the front white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 896, "end_step": 1660, "id": "2c2bb00c-7a72-4384-9818-242d0a1bf42d"}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand makes contact with the front white hexagonal nut, adjusting finger positions to attempt closing around the nut."}, {"label": "subtasks", "start_step": 968, "end_step": 1057, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: push: Right hand pushes the toppled white hexagonal nut across the table surface toward the near side of the workspace."}, {"label": "subtasks", "start_step": 1058, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts finger positions around the toppled white hexagonal nut to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1148, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reorient: Right hand rotates the gripped white hexagonal nut about a horizontal axis to flip it from a lying position back to an upright orientation, with minimal position change."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the upright white hexagonal nut to rest on the table surface, then opens fingers to release grip on the nut."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty next to the placed white hexagonal nut without observable movement."}, {"label": "subtasks", "start_step": 1282, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves upward and toward the other white hexagonal nut positioned near the right side of the wooden assembly base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the inner white hexagonal nut near the wooden base, adjusting finger positions to attempt closing around the nut."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release contact with the inner white hexagonal nut, then moves slightly backward away from the nut."}, {"label": "subtasks", "start_step": 1455, "end_step": 1649, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach_grasp: Right hand moves a short distance back toward the inner white hexagonal nut, then adjusts finger positions to form a stable grasp around the nut."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal cylinder to the right of the wooden block base without noticeable movement."}, {"label": "goal", "start_step": 1661, "end_step": 1795, "id": "73db4c22-2b2b-4d5b-ac85-d4ec3691a7b3"}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder upward off the table surface and transports it to the position directly above the purple vertical rod on the block set."}, {"label": "subtasks", "start_step": 1710, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple vertical rod, slides the cylinder down along the rod to rest on the green block below to form the assembly."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the assembled white hexagonal cylinder on the purple rod without noticeable movement."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward toward the small white hexagonal block on the table adjacent to the wooden block base."}, {"label": "goal", "start_step": 1796, "end_step": 1860, "id": "ea5471ee-e3fd-442c-95fb-f1c8f1f8889b"}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts finger positions to close around the small white hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward to separate it from the black table surface."}, {"label": "goal", "start_step": 1861, "end_step": 2035, "id": "a48186e2-3851-4b6c-a1a5-0197fe2eb414"}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the white hexagonal nut, moving it upward and leftward to the area above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1890, "end_step": 2024, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate_place: Right hand aligns the white hexagonal nut with the purple rod on the wooden base via fine positional adjustments, and places the nut onto the wooden base to be supported by the surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden rack, releasing the block as the block rests stably on the rod."}, {"label": "goal", "start_step": 2036, "end_step": 2135, "id": "9c3d1b7a-44e4-4a45-a2fd-78051159e55b"}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward across the table surface, approaching the white hexagonal nut positioned next to the green square block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal block resting on the table near the green block without moving."}, {"label": "goal", "start_step": 2136, "end_step": 2250, "id": "42bac606-e516-4f9e-81ad-6183e7398e0e"}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves it upward and leftward toward the empty slot on the wooden peg rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal block into the empty slot on the wooden rack until the block is supported by the rack, fingers opening to release the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed white hexagonal block."}, {"label": "goal", "start_step": 2251, "end_step": 2375, "id": "b9ad8eb2-febf-4d64-8a41-e205c99b0d3c"}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward from the block rack area toward the green cubic block on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp_release: Right hand closes fingers around the green cubic block on the table, opening fingers to release contact with the block as it lifts slightly away from the surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty and stationary in the air above the green cubic block on the table."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach_grasp: Right hand moves downward toward the green cubic block on the table, closing fingers to contact the block surface upon arrival."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hollow block resting on the dark table surface without moving."}, {"label": "goal", "start_step": 2376, "end_step": 2570, "id": "4b398e12-0cef-4c00-a8a3-cf9eb7c30d50"}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand moves upward to lift the green hollow block completely off the dark table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the lifted green block toward the empty slot on the wooden block holding tray."}, {"label": "subtasks", "start_step": 2415, "end_step": 2579, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate_release: Right hand adjusts the position and orientation of the green block, aligns its central hole with the target white post on the tray, slides the block down the post to complete mating, and opens fingers to release the block."}, {"label": "home", "start_step": 2623, "end_step": 2653, "id": "NTn00-e_4bm0bCDX4owE3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty on the right side of the table without obvious displacement or rotation."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the green hexagonal block near the wooden base on the table, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the green hexagonal block near the wooden base, with fingers closing and adjusting position to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is fully seated on the purple peg."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the table, with fingers held open."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut after the nut is fitted onto the purple peg."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves down empty from the wooden block rack area toward the front white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward toward the empty purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the held white hexagonal nut with the empty purple peg on the wooden rack and fits the nut down onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut seated on the purple peg, breaking contact with the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut placed on the table in front of the wooden stacking base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table support surface."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and backward to the position directly above the right purple post on the stacking base."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal nut to align its central hole with the purple post below."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple post for support, opening fingers to release the grasped nut."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to form a stable grip."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal nut fitted on the purple peg without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the front white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand makes contact with the front white hexagonal nut, adjusting finger positions to attempt closing around the nut."}, {"label": "subtasks", "start_step": 968, "end_step": 1057, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: push: Right hand pushes the toppled white hexagonal nut across the table surface toward the near side of the workspace."}, {"label": "subtasks", "start_step": 1058, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts finger positions around the toppled white hexagonal nut to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1148, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reorient: Right hand rotates the gripped white hexagonal nut about a horizontal axis to flip it from a lying position back to an upright orientation, with minimal position change."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the upright white hexagonal nut to rest on the table surface, then opens fingers to release grip on the nut."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty next to the placed white hexagonal nut without observable movement."}, {"label": "subtasks", "start_step": 1282, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves upward and toward the other white hexagonal nut positioned near the right side of the wooden assembly base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the inner white hexagonal nut near the wooden base, adjusting finger positions to attempt closing around the nut."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release contact with the inner white hexagonal nut, then moves slightly backward away from the nut."}, {"label": "subtasks", "start_step": 1455, "end_step": 1649, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach_grasp: Right hand moves a short distance back toward the inner white hexagonal nut, then adjusts finger positions to form a stable grasp around the nut."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal cylinder to the right of the wooden block base without noticeable movement."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder upward off the table surface and transports it to the position directly above the purple vertical rod on the block set."}, {"label": "subtasks", "start_step": 1710, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple vertical rod, slides the cylinder down along the rod to rest on the green block below to form the assembly."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the assembled white hexagonal cylinder on the purple rod without noticeable movement."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward toward the small white hexagonal block on the table adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts finger positions to close around the small white hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the white hexagonal nut, moving it upward and leftward to the area above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1890, "end_step": 2024, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate_place: Right hand aligns the white hexagonal nut with the purple rod on the wooden base via fine positional adjustments, and places the nut onto the wooden base to be supported by the surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden rack, releasing the block as the block rests stably on the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward across the table surface, approaching the white hexagonal nut positioned next to the green square block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal block resting on the table near the green block without moving."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves it upward and leftward toward the empty slot on the wooden peg rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal block into the empty slot on the wooden rack until the block is supported by the rack, fingers opening to release the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed white hexagonal block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward from the block rack area toward the green cubic block on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp_release: Right hand closes fingers around the green cubic block on the table, opening fingers to release contact with the block as it lifts slightly away from the surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty and stationary in the air above the green cubic block on the table."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach_grasp: Right hand moves downward toward the green cubic block on the table, closing fingers to contact the block surface upon arrival."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hollow block resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand moves upward to lift the green hollow block completely off the dark table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the lifted green block toward the empty slot on the wooden block holding tray."}, {"label": "subtasks", "start_step": 2415, "end_step": 2579, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate_release: Right hand adjusts the position and orientation of the green block, aligns its central hole with the target white post on the tray, slides the block down the post to complete mating, and opens fingers to release the block."}], "episode_index": 15}
+{"source_uid": "d7bcef910ef2c6c7", "num_frames": 2143, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "0bcb84c9-42ff-43ce-a6a0-a21b892f5989"}, {"label": "valid", "start_step": 0, "end_step": 2115, "id": "ksqDFR9AxjN2topVkfbe0"}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 116, "end_step": 340, "id": "32a54873-9b98-4fd7-8251-62941a13e3ea"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table surface and transports it to above the leftmost front purple peg."}, {"label": "subtasks", "start_step": 142, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_press: Right hand mates the green cubic block onto the leftmost front purple peg and presses it downward along the peg to the bottom position."}, {"label": "subtasks", "start_step": 278, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches upward toward the white hexagonal block on top of the green cubic block with fingers slightly open."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of the green cubic block with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the middle purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 341, "end_step": 425, "id": "d134ca39-5d84-4c11-ac73-2b772aba86a3"}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing and adjusting for stable grip."}, {"label": "goal", "start_step": 426, "end_step": 545, "id": "00cfa2dc-8470-49b8-89fc-0a7c1c03ff6f"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal object from the black table upward and rightward to the position above the front-left purple peg of the wooden board."}, {"label": "subtasks", "start_step": 465, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the front-left purple peg of the wooden board, lowering it to fit over the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 532, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats downward and rightward away from the wooden board with empty hand."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal piece on the black table."}, {"label": "goal", "start_step": 546, "end_step": 605, "id": "2e4baf38-71b7-4e1b-bed1-d08505f6f923"}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to establish a stable grip."}, {"label": "goal", "start_step": 606, "end_step": 710, "id": "49453ad4-e02e-4470-b0dd-57a7af6ced87"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward to the position above the wooden base's peg."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the peg of the wooden base, lowering it along the peg to fit into position."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the wooden base's peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 711, "end_step": 780, "id": "394e39d8-02ac-4b63-859c-a879f87d6d80"}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 742, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 781, "end_step": 900, "id": "33ed37af-b883-4e86-8db7-ace6eeab4730"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple peg of the wooden rack, aligning and lowering it into place."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the rightmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the rightmost purple peg by opening its fingers."}, {"label": "goal", "start_step": 901, "end_step": 970, "id": "ae8de39a-3008-4490-a7c3-145e519526a4"}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the left side of the black table surface, empty-handed."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}, {"label": "goal", "start_step": 971, "end_step": 1105, "id": "28346b70-017f-41ad-81d0-6fa83a3542d8"}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward toward the front-right purple peg of the pegboard."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-right purple peg of the pegboard by aligning the hole and lowering the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-right purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand starts to release the green hexagonal block on the front-right purple peg, with fingers slightly opening."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green ring down along the peg on the wooden board."}, {"label": "goal", "start_step": 1106, "end_step": 1170, "id": "a90b963d-2053-4924-8049-de628c97822c"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green supporting block on the right side of the table."}, {"label": "goal", "start_step": 1171, "end_step": 1290, "id": "e66a1b8c-ca60-49fc-806a-219b1aec747b"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1251, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by inserting it downward onto the peg until it touches the green base at the bottom."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and fully separating from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden peg base toward the upper white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1291, "end_step": 1355, "id": "dcd68746-0d6c-4d4a-bb87-0762c5d186f1"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1356, "end_step": 1735, "id": "49db2278-aa68-4ad7-87b3-5b737486302b"}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and presses it down onto the rod, making continuous fine adjustments to the block's position."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves slightly toward the white hexagonal block on the purple rod again."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: other:adjust_block_height_on_rod: Right hand grasps the white hexagonal block on the purple rod and adjusts its height along the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1731, "id": "reasoning-language-00048", "text": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, not yet touching the block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1739, "id": "reasoning-language-00049", "text": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: release_retreat: Right hand releases the white hexagonal block and moves downward away from the purple rod."}, {"label": "goal", "start_step": 1736, "end_step": 1785, "id": "0999f584-a6f9-43a1-b799-e7573f84a5c0"}, {"label": "subtasks", "start_step": 1740, "end_step": 1747, "id": "reasoning-language-00050", "text": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, not yet touching the block."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00051", "text": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, adjusting the grip to stabilize the block."}, {"label": "goal", "start_step": 1786, "end_step": 1910, "id": "b3a77e5b-d112-4b68-9b5d-9523056d1854"}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward and leftward to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and moves it downward to fit the block onto the rod until the block is supported by the white cylinder below."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 1911, "end_step": 1960, "id": "78b83187-3f82-4d2e-95f2-d9826d14bccd"}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the right side of the white block assembly toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing around the cube to form a stable grip."}, {"label": "goal", "start_step": 1961, "end_step": 2055, "id": "918abddc-e1a3-46f5-aa1d-c8ab57f58f9f"}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward to the position above the purple peg on the white block assembly."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green cube with the purple peg on the white block assembly and fits the cube onto the peg."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube, with fingers opening and separating from the cube."}, {"label": "home", "start_step": 2116, "end_step": 2142, "id": "hoMR0vunS4NoUugg_AxaB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the wooden rack."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table surface and transports it to above the leftmost front purple peg."}, {"label": "subtasks", "start_step": 142, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_press: Right hand mates the green cubic block onto the leftmost front purple peg and presses it downward along the peg to the bottom position."}, {"label": "subtasks", "start_step": 278, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches upward toward the white hexagonal block on top of the green cubic block with fingers slightly open."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of the green cubic block with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the middle purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal object from the black table upward and rightward to the position above the front-left purple peg of the wooden board."}, {"label": "subtasks", "start_step": 465, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the front-left purple peg of the wooden board, lowering it to fit over the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 532, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats downward and rightward away from the wooden board with empty hand."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward to the position above the wooden base's peg."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the peg of the wooden base, lowering it along the peg to fit into position."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the wooden base's peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 742, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple peg of the wooden rack, aligning and lowering it into place."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the rightmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the rightmost purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the left side of the black table surface, empty-handed."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward toward the front-right purple peg of the pegboard."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-right purple peg of the pegboard by aligning the hole and lowering the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-right purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand starts to release the green hexagonal block on the front-right purple peg, with fingers slightly opening."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green ring down along the peg on the wooden board."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green supporting block on the right side of the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1251, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by inserting it downward onto the peg until it touches the green base at the bottom."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and fully separating from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden peg base toward the upper white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and presses it down onto the rod, making continuous fine adjustments to the block's position."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves slightly toward the white hexagonal block on the purple rod again."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: other:adjust_block_height_on_rod: Right hand grasps the white hexagonal block on the purple rod and adjusts its height along the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1731, "id": "reasoning-language-00048", "text": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, not yet touching the block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1739, "id": "reasoning-language-00049", "text": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: release_retreat: Right hand releases the white hexagonal block and moves downward away from the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1747, "id": "reasoning-language-00050", "text": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, not yet touching the block."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00051", "text": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward and leftward to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and moves it downward to fit the block onto the rod until the block is supported by the white cylinder below."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the right side of the white block assembly toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing around the cube to form a stable grip."}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward to the position above the purple peg on the white block assembly."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green cube with the purple peg on the white block assembly and fits the cube onto the peg."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube, with fingers opening and separating from the cube."}], "episode_index": 16}
+{"source_uid": "e682c1516a84c3ff", "num_frames": 2185, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its hand and finger posture slightly at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block on the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "c6d30754-b8da-4020-aa2d-b462290e7e65"}, {"label": "valid", "start_step": 0, "end_step": 2154, "id": "y5wrTqqMdp48RYf7eG8Xv"}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the leftmost purple rod."}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the black table surface near the green block."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block placed on the black table top."}, {"label": "goal", "start_step": 141, "end_step": 310, "id": "5b0556dd-782c-4253-a7a9-eae0df7f75ce"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 210, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 311, "end_step": 385, "id": "da330e59-d9f7-4eaa-8567-f1558f6b0902"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 386, "end_step": 560, "id": "f4b21370-eb42-49bc-8144-660d8159e7d4"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base, adjusting position to fit properly."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 561, "end_step": 650, "id": "12d17833-e8f6-48cf-af2a-9a703a560f29"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 651, "end_step": 970, "id": "819ab4a2-b32b-49b1-bbd5-97e959a8ccc3"}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the target position."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple peg of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 971, "end_step": 1045, "id": "c009e1ff-5eda-4d9a-ac23-5d0079d380c2"}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "goal", "start_step": 1046, "end_step": 1160, "id": "a6a14441-26df-4965-a324-ed6bc1f5eb46"}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple rod on the wooden base and then releases the ring from its grasp."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position above the wooden base toward the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1161, "end_step": 1220, "id": "c4bf4212-44be-4c65-af59-8eb89520c5b9"}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop, adjusting to form a stable grip."}, {"label": "goal", "start_step": 1221, "end_step": 1355, "id": "cea496b3-c5ae-49be-947b-74904ad83a96"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod on the wooden base and fits it onto the rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1356, "end_step": 1420, "id": "58039232-901e-4a99-9f6d-3c77e7d7556f"}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "goal", "start_step": 1421, "end_step": 1555, "id": "12ca25dc-ea2c-42f8-b820-9d4f99ac06f1"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple vertical rod on the wooden base and releases the grip on the block."}, {"label": "goal", "start_step": 1556, "end_step": 1630, "id": "c6b6f650-f52f-472d-8029-679f328d8a54"}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1631, "end_step": 1755, "id": "7d848f41-64e3-4a47-81fa-76458df0162d"}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block away from the black tabletop."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white hexagonal block horizontally to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal block and fits it onto the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}, {"label": "goal", "start_step": 1756, "end_step": 1820, "id": "7e9518ff-df31-44fb-ae69-eb1e13ea8d17"}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1821, "end_step": 1930, "id": "75b9dae4-7bb8-4af9-b042-d5a5dc541ef3"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block up and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block with purple top onto the wooden base."}, {"label": "goal", "start_step": 1931, "end_step": 1995, "id": "7eff847c-d47c-4dba-9409-adc15eabf244"}, {"label": "subtasks", "start_step": 1942, "end_step": 1987, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 1996, "end_step": 2090, "id": "ee993dec-f04a-428c-827b-220920816d64"}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block towards the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the top of the target white bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block after it is fitted onto the white bottle."}, {"label": "home", "start_step": 2155, "end_step": 2184, "id": "fFwTNABCd7V0bL6PK0TFE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its hand and finger posture slightly at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the leftmost purple rod."}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the black table surface near the green block."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block placed on the black table top."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 210, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base, adjusting position to fit properly."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the target position."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple peg of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple rod on the wooden base and then releases the ring from its grasp."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position above the wooden base toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop, adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod on the wooden base and fits it onto the rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple vertical rod on the wooden base and releases the grip on the block."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block away from the black tabletop."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white hexagonal block horizontally to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal block and fits it onto the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block up and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block with purple top onto the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1987, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block towards the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the top of the target white bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block after it is fitted onto the white bottle."}], "episode_index": 17}
+{"source_uid": "175a0eb3eaf85db4", "num_frames": 2000, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand with open fingers moves from its initial upper-right position toward the green hexagonal block placed on the front-left area of the table surface, approaching the target without establishing contact."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "b602287b-df26-41ec-9fff-fc710033caf7"}, {"label": "valid", "start_step": 0, "end_step": 1967, "id": "fhtnPfg3Oc1AnSHANCWml"}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, fingers close and perform minor adjustments to form a stable grip on the block which remains on the table surface."}, {"label": "goal", "start_step": 116, "end_step": 235, "id": "2ee35458-06ce-423a-b698-cc2eb1539c48"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward toward the purple rods on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod, and adjusts the block's position to fit it onto the rod."}, {"label": "goal", "start_step": 236, "end_step": 305, "id": "bc6b630e-7f79-481f-a53f-1063fdec2453"}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach_grasp: Right hand moves downward to approach the white hexagonal nut on the table in front of the wooden base, making contact with the nut and adjusting finger positions to close around it for a stable grasp."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without any visible movement."}, {"label": "goal", "start_step": 306, "end_step": 420, "id": "b38dac23-6ed0-4852-948e-d82bca57d2b4"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to a position directly above the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: hold: Right hand holds the white hexagonal nut directly above the purple peg on the wooden assembly rack without visible movement."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the purple peg and fits the nut onto the top portion of the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place_release: Right hand slides the white hexagonal nut downward along the purple peg until it rests stably on the green base block, with fingers opening to release contact with the nut."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from above the wooden assembly base toward the white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 421, "end_step": 480, "id": "8c362e83-302e-46df-9d16-01153c8845a9"}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact points to establish a stable grip."}, {"label": "goal", "start_step": 481, "end_step": 675, "id": "d48cbb16-9b55-4af5-beb6-8546778ee416"}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 525, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the held white hexagonal nut with the empty purple peg, lowering the nut to fit onto the peg until it is fully supported by the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens fingers gradually to release the fitted white hexagonal nut, breaking the grip on the nut."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: idle: Right hand remains empty above the assembled white nut without any visible movement."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens fingers to release the previously held white hexagonal nut from the upper position on the wooden pegboard, allowing the nut to rest on the peg."}, {"label": "goal", "start_step": 676, "end_step": 745, "id": "5817cdc2-58f3-4f83-9207-8d872daf66b1"}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the black table surface directly in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table to establish a stable grasp."}, {"label": "goal", "start_step": 746, "end_step": 905, "id": "c9798a07-41e3-4bc8-a595-da92f95615f1"}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position it directly above the empty purple peg on the pegboard."}, {"label": "subtasks", "start_step": 780, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, moves the nut downward to fit it onto the peg until it seats at the lower position on the peg."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple vertical post on the wooden base, inserts it fully onto the post and opens fingers to release the block."}, {"label": "goal", "start_step": 906, "end_step": 1000, "id": "8b90eeb6-47a1-4c53-89e6-62dca1fec4dc"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward through empty space toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to form a grip."}, {"label": "goal", "start_step": 1001, "end_step": 1130, "id": "ab547821-7cf4-4b91-8b78-35b94b4b1c34"}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the area above the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place: Right hand aligns the green hexagonal block with the purple post, moves downward to place the block onto the wooden base, fitting the block over the post until it rests stably on the base surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from the area in front of the wooden pegboard toward the green hexagonal block on the black table surface, staying empty before making contact with the target."}, {"label": "goal", "start_step": 1131, "end_step": 1220, "id": "4c04e50e-1099-499f-8f1d-322ad33cf24d"}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand contacts the green hexagonal block on the black table surface, closing fingers and adjusting finger contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}, {"label": "goal", "start_step": 1221, "end_step": 1340, "id": "43785dcb-25dc-4aa2-8d3d-f6cb27155287"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg on the wooden base, adjusting position slightly to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place: Right hand lowers the white hexagonal nut along the purple peg until it rests stably on the supporting green block below."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the white hexagonal nut beside the wooden base, keeping fingers open while approaching the target nut."}, {"label": "goal", "start_step": 1341, "end_step": 1395, "id": "59e7fb31-549d-4876-9525-b0dbf7014bc4"}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the table, adjusting finger positions to form a stable grip on the nut."}, {"label": "goal", "start_step": 1396, "end_step": 1510, "id": "fad9fdc8-76a6-4e1a-887a-a9b8793e07c2"}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the dark table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and horizontally toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut to fit it onto the rod until it rests stably on the stacked nuts below."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, moving fingers away from the placed nut."}, {"label": "goal", "start_step": 1511, "end_step": 1555, "id": "86c3c83c-e9be-4eb0-a8a6-b2ec06de30c4"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from its initial upper position toward the white hexagonal nut on the black table surface, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the table, forming a stable grasp while the nut stays on the supporting surface."}, {"label": "goal", "start_step": 1556, "end_step": 1770, "id": "77f02b8c-3e7f-4910-9ff4-315133d2e220"}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and leftward to the position directly above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1612, "end_step": 1731, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut to align its central hole with the purple rod, fitting the nut onto the top end of the rod."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple rod until it rests stably on the lower white block, opening fingers to fully release the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward toward the small green block on the black table surface from its initial position near the set of white bottles."}, {"label": "goal", "start_step": 1771, "end_step": 1825, "id": "9874d578-f03c-4595-a626-1b8791fc6ee1"}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes its fingers around the small green block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1826, "end_step": 1920, "id": "55398e04-b0e4-402e-bc92-733b347978fe"}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface and moves it to the position directly above the purple-capped white bottle on the tray."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple-capped bottle and fits the block onto the bottle cap."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens its fingers to release the green block fitted on the bottle cap, separating the hand from the block."}, {"label": "home", "start_step": 1968, "end_step": 1999, "id": "q3yEwklmAPe75RQ-kkfcz"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand with open fingers moves from its initial upper-right position toward the green hexagonal block placed on the front-left area of the table surface, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, fingers close and perform minor adjustments to form a stable grip on the block which remains on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward toward the purple rods on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod, and adjusts the block's position to fit it onto the rod."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach_grasp: Right hand moves downward to approach the white hexagonal nut on the table in front of the wooden base, making contact with the nut and adjusting finger positions to close around it for a stable grasp."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without any visible movement."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to a position directly above the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: hold: Right hand holds the white hexagonal nut directly above the purple peg on the wooden assembly rack without visible movement."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the purple peg and fits the nut onto the top portion of the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place_release: Right hand slides the white hexagonal nut downward along the purple peg until it rests stably on the green base block, with fingers opening to release contact with the nut."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from above the wooden assembly base toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact points to establish a stable grip."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 525, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the held white hexagonal nut with the empty purple peg, lowering the nut to fit onto the peg until it is fully supported by the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens fingers gradually to release the fitted white hexagonal nut, breaking the grip on the nut."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: idle: Right hand remains empty above the assembled white nut without any visible movement."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens fingers to release the previously held white hexagonal nut from the upper position on the wooden pegboard, allowing the nut to rest on the peg."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the black table surface directly in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position it directly above the empty purple peg on the pegboard."}, {"label": "subtasks", "start_step": 780, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, moves the nut downward to fit it onto the peg until it seats at the lower position on the peg."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple vertical post on the wooden base, inserts it fully onto the post and opens fingers to release the block."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward through empty space toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to form a grip."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the area above the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place: Right hand aligns the green hexagonal block with the purple post, moves downward to place the block onto the wooden base, fitting the block over the post until it rests stably on the base surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from the area in front of the wooden pegboard toward the green hexagonal block on the black table surface, staying empty before making contact with the target."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand contacts the green hexagonal block on the black table surface, closing fingers and adjusting finger contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg on the wooden base, adjusting position slightly to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place: Right hand lowers the white hexagonal nut along the purple peg until it rests stably on the supporting green block below."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the white hexagonal nut beside the wooden base, keeping fingers open while approaching the target nut."}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the table, adjusting finger positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the dark table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and horizontally toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut to fit it onto the rod until it rests stably on the stacked nuts below."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, moving fingers away from the placed nut."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from its initial upper position toward the white hexagonal nut on the black table surface, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the table, forming a stable grasp while the nut stays on the supporting surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and leftward to the position directly above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1612, "end_step": 1731, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut to align its central hole with the purple rod, fitting the nut onto the top end of the rod."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple rod until it rests stably on the lower white block, opening fingers to fully release the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward toward the small green block on the black table surface from its initial position near the set of white bottles."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes its fingers around the small green block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface and moves it to the position directly above the purple-capped white bottle on the tray."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple-capped bottle and fits the block onto the bottle cap."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens its fingers to release the green block fitted on the bottle cap, separating the hand from the block."}], "episode_index": 18}
+{"source_uid": "40dc3d6cd5ff519b", "num_frames": 1705, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_extend: Left hand extends its fingers slightly at the left side of the table, remaining empty with no overall hand displacement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface, staying empty."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "17ae051a-4fa2-464e-a54d-144dda60bde6"}, {"label": "valid", "start_step": 0, "end_step": 1673, "id": "aAxJGDwVwd8w9n23w7qlD"}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface, staying empty."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the dark table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 126, "end_step": 265, "id": "02a3da38-9734-4740-86aa-503e413a2e37"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack, sliding it downward along the peg."}, {"label": "goal", "start_step": 266, "end_step": 350, "id": "82d86b85-2446-482f-809f-681f01d582c1"}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 300, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to fit the block."}, {"label": "goal", "start_step": 351, "end_step": 460, "id": "43902b96-5958-4f5e-90c7-b91f16ce8e5c"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the purple post rack."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the rightmost purple post on the rack and fits it onto the post."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the rightmost purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical component down to fit it fully onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 461, "end_step": 530, "id": "e2daa604-beaf-4263-a98a-e7e7906c81a6"}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal part at the lower area of the table."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the lower-left area of the table surface."}, {"label": "goal", "start_step": 531, "end_step": 640, "id": "761e82f4-1594-46ad-a6ee-380dfd0aa979"}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it upward and rightward to the area above the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with a purple peg by aligning its hole and lowering it onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple peg, with fingers gradually opening."}, {"label": "goal", "start_step": 641, "end_step": 715, "id": "034b1c40-df86-4ac3-b843-baa6bc35f241"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table above the green cubic block."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 716, "end_step": 840, "id": "9c2f964f-037d-4ca5-87c2-20ba3e6d62e8"}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical piece from the black table and transports it to the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical piece with the rightmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylindrical piece along the purple peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical piece on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece by opening its fingers."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the white cylindrical piece without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table in front of the wooden base."}, {"label": "goal", "start_step": 841, "end_step": 895, "id": "159c6968-9fb7-4658-a9bd-22a0d34cd33c"}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 896, "end_step": 995, "id": "7e577275-01ca-4e90-9f71-189553fbf196"}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the position above the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the rightmost purple peg by aligning the block's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the wooden peg of the building set, with fingers opening to break contact."}, {"label": "goal", "start_step": 996, "end_step": 1070, "id": "a25d0ae1-fed3-4aaa-81c2-7c14c001b964"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1071, "end_step": 1170, "id": "94d684fb-9ddf-4092-b634-186a6fbc7473"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1169, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and lowers it onto the peg to complete the fitting."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the purple peg on the wooden base toward the white hexagonal piece on the table, approaching the target."}, {"label": "goal", "start_step": 1171, "end_step": 1240, "id": "8f34e0eb-adac-4040-85f4-26cd2af73b94"}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table, adjusting the grip to stabilize the object."}, {"label": "goal", "start_step": 1241, "end_step": 1335, "id": "031e5323-77b3-481f-b3a3-f7f6217096f0"}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal piece onto the purple peg on the wooden base, then releases the grip to separate from the piece."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1336, "end_step": 1390, "id": "39868b93-29a4-4949-a0eb-f13c4fbe8ee6"}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "goal", "start_step": 1391, "end_step": 1485, "id": "a892b59a-7163-4b70-b784-122b64e27bda"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden rack by lowering and aligning the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the block set toward the green square block on the dark table surface."}, {"label": "goal", "start_step": 1486, "end_step": 1540, "id": "7da85022-dec3-476e-ad38-5d1f515d58b5"}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1541, "end_step": 1640, "id": "308465a5-ef16-43be-bac2-4915aad44cf7"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it upward and leftward toward the rightmost peg on the wooden block base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block by opening its fingers and moving slightly away from the block."}, {"label": "home", "start_step": 1674, "end_step": 1704, "id": "0iQaLQUtWQ8DYfT4HKEHE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_extend: Left hand extends its fingers slightly at the left side of the table, remaining empty with no overall hand displacement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface, staying empty."}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface, staying empty."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the dark table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack, sliding it downward along the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 300, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to fit the block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the purple post rack."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the rightmost purple post on the rack and fits it onto the post."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the rightmost purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical component down to fit it fully onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal part at the lower area of the table."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the lower-left area of the table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it upward and rightward to the area above the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with a purple peg by aligning its hole and lowering it onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple peg, with fingers gradually opening."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table above the green cubic block."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical piece from the black table and transports it to the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical piece with the rightmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylindrical piece along the purple peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical piece on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece by opening its fingers."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the white cylindrical piece without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the position above the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the rightmost purple peg by aligning the block's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the wooden peg of the building set, with fingers opening to break contact."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1169, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and lowers it onto the peg to complete the fitting."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the purple peg on the wooden base toward the white hexagonal piece on the table, approaching the target."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table, adjusting the grip to stabilize the object."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal piece onto the purple peg on the wooden base, then releases the grip to separate from the piece."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden rack by lowering and aligning the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the block set toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it upward and leftward toward the rightmost peg on the wooden block base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block by opening its fingers and moving slightly away from the block."}], "episode_index": 19}
+{"source_uid": "d955d28beeb36870", "num_frames": 2182, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "29529c7b-956e-4e37-80cb-41fdb2edcafe"}, {"label": "valid", "start_step": 0, "end_step": 2151, "id": "BWe6pQHt-cM3zRpcwaiut"}, {"label": "subtasks", "start_step": 52, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand adjusts finger posture and contacts the green hexagonal block to form a grasp."}, {"label": "goal", "start_step": 116, "end_step": 300, "id": "b1eca4d2-511f-4d1f-a300-f6dbf7f56123"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: press: Right hand presses the green block down along the purple peg to fix it in place."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release_retreat: Right hand releases the green block and retreats from the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the white hexagonal object on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 301, "end_step": 320, "id": "562d8422-4fcd-42c1-8d31-9625463371f9"}, {"label": "goal", "start_step": 321, "end_step": 415, "id": "5da08212-57a7-4094-909c-04c2cb89b893"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the tabletop and transports it to above the target purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand mates the white hexagonal object with the purple peg by inserting it down onto the peg."}, {"label": "goal", "start_step": 416, "end_step": 655, "id": "631079eb-e38d-4e1a-83ad-359a2d579277"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand opens fingers to release the white hexagonal block onto the tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves to approach the white hexagonal block on the tabletop again."}, {"label": "subtasks", "start_step": 578, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand adjusts finger position to prepare for grasping the white hexagonal block on the tabletop."}, {"label": "goal", "start_step": 656, "end_step": 815, "id": "56a90a20-0372-46de-9621-335779a5189d"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place_mate: Right hand places the white hexagonal block onto the purple peg and mates it by pushing down to fit securely on the peg."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the white hexagonal block onto the peg on the wooden base."}, {"label": "goal", "start_step": 816, "end_step": 885, "id": "d28557b3-1ff8-4f04-88f8-a26de1510dda"}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 886, "end_step": 1050, "id": "e303ce38-0d3c-4fa3-b968-338f21b4b852"}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: retreat: Right hand retreats from the wooden base area towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand reaches towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach_grasp: Right hand reaches toward the green block on the black table, then grasps it with fingers closing around the block."}, {"label": "goal", "start_step": 1051, "end_step": 1075, "id": "d1241414-6cfc-46bc-a0e3-8db261315821"}, {"label": "goal", "start_step": 1076, "end_step": 1220, "id": "2ffc6176-8e5f-49d2-976c-ed013b02e63d"}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the green block off the table, then transports it toward the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the green block onto the white peg on the wooden base until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: press: Right hand presses the green block down along the white peg to secure it in place."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the green block on the white peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the green hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1221, "end_step": 1350, "id": "cdd2b1f4-ca88-4a0f-8847-a7114bc7c8f9"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1260, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1351, "end_step": 1515, "id": "03b5a503-ee6b-4098-9f19-7fbe3991656c"}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand gradually releases the white hexagonal block after it is assembled on the purple rod."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp_release: Right hand grasps and releases the white cylindrical block on the wooden base."}, {"label": "goal", "start_step": 1516, "end_step": 1590, "id": "fe1819fa-8a6d-41cf-b405-cb374192982e"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves down towards the white hollow hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table."}, {"label": "goal", "start_step": 1591, "end_step": 1775, "id": "63c9dad6-9ee1-4fe2-9ea7-e6534818d66d"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the white hexagonal block and retreats slightly from the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand reaches towards the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it in place."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves towards the white hexagonal block on the table without touching it."}, {"label": "goal", "start_step": 1776, "end_step": 1835, "id": "c1dd4351-21c4-4d96-9486-212e71b38846"}, {"label": "subtasks", "start_step": 1808, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1836, "end_step": 1935, "id": "c5e5d4f4-fa4d-4a4a-b9fd-2d2922923831"}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}, {"label": "goal", "start_step": 1936, "end_step": 1990, "id": "71be2431-8b60-46e4-bcc1-3bbab0eed10a"}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves toward the green hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the green hollow block on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 1991, "end_step": 2115, "id": "3a622be0-62bc-4f4f-ade9-aa42febe1e8c"}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the green hollow block from the tabletop and transports it above the white block with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2055, "end_step": 2121, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place_mate: Right hand places the green hollow block onto the purple top of the white block and mates it into correct position."}, {"label": "subtasks", "start_step": 2122, "end_step": 2129, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the green hollow block fitted on the white block."}, {"label": "home", "start_step": 2152, "end_step": 2181, "id": "HQfbPAek4mq61f2ekhLp3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand adjusts finger posture and contacts the green hexagonal block to form a grasp."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: press: Right hand presses the green block down along the purple peg to fix it in place."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release_retreat: Right hand releases the green block and retreats from the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the white hexagonal object on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the tabletop and transports it to above the target purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand mates the white hexagonal object with the purple peg by inserting it down onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand opens fingers to release the white hexagonal block onto the tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves to approach the white hexagonal block on the tabletop again."}, {"label": "subtasks", "start_step": 578, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand adjusts finger position to prepare for grasping the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place_mate: Right hand places the white hexagonal block onto the purple peg and mates it by pushing down to fit securely on the peg."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the white hexagonal block onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: retreat: Right hand retreats from the wooden base area towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand reaches towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach_grasp: Right hand reaches toward the green block on the black table, then grasps it with fingers closing around the block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the green block off the table, then transports it toward the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the green block onto the white peg on the wooden base until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: press: Right hand presses the green block down along the white peg to secure it in place."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the green block on the white peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the green hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1260, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand gradually releases the white hexagonal block after it is assembled on the purple rod."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp_release: Right hand grasps and releases the white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves down towards the white hollow hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the white hexagonal block and retreats slightly from the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand reaches towards the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it in place."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves towards the white hexagonal block on the table without touching it."}, {"label": "subtasks", "start_step": 1808, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves toward the green hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the green hollow block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the green hollow block from the tabletop and transports it above the white block with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2055, "end_step": 2121, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place_mate: Right hand places the green hollow block onto the purple top of the white block and mates it into correct position."}, {"label": "subtasks", "start_step": 2122, "end_step": 2129, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the green hollow block fitted on the white block."}], "episode_index": 20}
+{"source_uid": "e15f981e7d21e618", "num_frames": 1773, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty from the right initial position toward the green hexagonal block adjacent to the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "df562022-ba00-4607-8eaa-ed630cb7a147"}, {"label": "valid", "start_step": 0, "end_step": 1741, "id": "F3zvPMndnUHTnVCAjDYGP"}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to establish a grip."}, {"label": "goal", "start_step": 126, "end_step": 230, "id": "a61dc4f8-1e27-4077-8fb8-3497d8e02b6c"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves the block upward to position it directly above the purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden stand, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut on the table, approaching the nut without making contact."}, {"label": "goal", "start_step": 231, "end_step": 300, "id": "efa1bce6-f5c5-4ab6-bfbd-025022f337dd"}, {"label": "subtasks", "start_step": 262, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers close and adjust positions to establish a grasp on the nut."}, {"label": "goal", "start_step": 301, "end_step": 415, "id": "6554d79b-acd5-4144-84b9-cab8148f1392"}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves it downward to fit onto the rod until it rests on the green base."}, {"label": "subtasks", "start_step": 398, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand, empty, moves downward and forward from the wooden assembly block area toward the front white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 416, "end_step": 485, "id": "16bd5ee8-7889-4cf0-9cba-3aaa3bb475e5"}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal nut on the table, making small wrist and finger adjustments to form a grip on the nut."}, {"label": "goal", "start_step": 486, "end_step": 600, "id": "82f06210-aad3-48c2-a312-f2bfa64277fe"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple post and fits the nut down onto the post."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without noticeable movement or adjustment."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the top of the stacked blocks toward the white hexagonal block placed near the wooden base, with fingers held slightly open."}, {"label": "goal", "start_step": 601, "end_step": 660, "id": "c5b027e9-8663-4f61-9d55-742ad9735039"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 661, "end_step": 775, "id": "e1244de8-050b-40df-916f-70472bc28473"}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the empty purple peg, and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple peg, and shifts slightly away from the block."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from above the wooden pegboard toward the green hexagonal block on the table, with fingers kept open."}, {"label": "goal", "start_step": 776, "end_step": 830, "id": "8d75a3ec-a0f4-4587-9009-25cc396752b8"}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to form a stable grip, with the block remaining on the table surface."}, {"label": "goal", "start_step": 831, "end_step": 925, "id": "4ff285ea-0d23-4344-9b91-d1d7c333e049"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the stably gripped green hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and leftward to the position directly above the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the pegboard, lowering the block with small positional adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: place: Right hand places the white hexagonal block down onto the purple vertical rod on the wooden assembly base, until the block is stably supported by the block below."}, {"label": "goal", "start_step": 926, "end_step": 1085, "id": "baa8a13e-3440-4c9f-9b55-46eb5848e052"}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and away from the assembly base toward the white hexagonal block resting on the black table surface near the green block."}, {"label": "subtasks", "start_step": 968, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and making small positional adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}, {"label": "goal", "start_step": 1086, "end_step": 1200, "id": "b9429b67-5715-4731-a27d-871c0cd7cb32"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block toward the purple rod on the wooden block assembly base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and moves the block downward with slight positional adjustments to fit it onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward with empty hand to approach the white hexagonal nut placed on the black table to the right of the wooden block base."}, {"label": "goal", "start_step": 1201, "end_step": 1265, "id": "8d91c104-3ac4-484b-b656-ff73ca917b01"}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers to wrap around the white hexagonal nut on the table, making small finger adjustments to form a stable grip on the nut."}, {"label": "goal", "start_step": 1266, "end_step": 1380, "id": "8a6bcde6-4f3f-46b6-9d98-8a871ebce072"}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward to position the nut directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, and lowers the nut to fit it onto the rod until it rests on the stacked components below."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the nut."}, {"label": "goal", "start_step": 1381, "end_step": 1430, "id": "d196ef47-eaec-45b1-b58b-cc7400f42c3c"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table, with fingers held in an extended position."}, {"label": "subtasks", "start_step": 1418, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp, with the block still resting on the table surface."}, {"label": "goal", "start_step": 1431, "end_step": 1540, "id": "52723bf2-e77c-4a19-a344-a7e6a377804c"}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block upward and leftward toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, then fits the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves the white hexagonal block downward along the purple vertical rod until the block rests stably on the underlying white block, fully supported by the base assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the purple top on the white cylinder of the block assembly vertically downward."}, {"label": "goal", "start_step": 1541, "end_step": 1595, "id": "02562e2e-c630-4e15-aa79-dd4d7cc74ada"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty from the block assembly area toward the small green cube resting on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers to grasp the small green cube on the black table surface."}, {"label": "goal", "start_step": 1596, "end_step": 1705, "id": "96ed61f2-b00c-44ff-9da4-9e35e2524607"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the small green cube off the table surface and transports it upward to the position above the purple-topped white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the small green cube with the top of the purple-topped white cylinder and fits the cube onto the cylinder."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the fitted green cube, separating the hand from the cube."}, {"label": "home", "start_step": 1742, "end_step": 1772, "id": "QGMkeUQIObpGVcUcKVEhH"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty from the right initial position toward the green hexagonal block adjacent to the wooden peg base."}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves the block upward to position it directly above the purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden stand, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut on the table, approaching the nut without making contact."}, {"label": "subtasks", "start_step": 262, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers close and adjust positions to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves it downward to fit onto the rod until it rests on the green base."}, {"label": "subtasks", "start_step": 398, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand, empty, moves downward and forward from the wooden assembly block area toward the front white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal nut on the table, making small wrist and finger adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple post and fits the nut down onto the post."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without noticeable movement or adjustment."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the top of the stacked blocks toward the white hexagonal block placed near the wooden base, with fingers held slightly open."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the empty purple peg, and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple peg, and shifts slightly away from the block."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from above the wooden pegboard toward the green hexagonal block on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the stably gripped green hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and leftward to the position directly above the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the pegboard, lowering the block with small positional adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: place: Right hand places the white hexagonal block down onto the purple vertical rod on the wooden assembly base, until the block is stably supported by the block below."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and away from the assembly base toward the white hexagonal block resting on the black table surface near the green block."}, {"label": "subtasks", "start_step": 968, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and making small positional adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block toward the purple rod on the wooden block assembly base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and moves the block downward with slight positional adjustments to fit it onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward with empty hand to approach the white hexagonal nut placed on the black table to the right of the wooden block base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers to wrap around the white hexagonal nut on the table, making small finger adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward to position the nut directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, and lowers the nut to fit it onto the rod until it rests on the stacked components below."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table, with fingers held in an extended position."}, {"label": "subtasks", "start_step": 1418, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block upward and leftward toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, then fits the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves the white hexagonal block downward along the purple vertical rod until the block rests stably on the underlying white block, fully supported by the base assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the purple top on the white cylinder of the block assembly vertically downward."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty from the block assembly area toward the small green cube resting on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers to grasp the small green cube on the black table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the small green cube off the table surface and transports it upward to the position above the purple-topped white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the small green cube with the top of the purple-topped white cylinder and fits the cube onto the cylinder."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the fitted green cube, separating the hand from the cube."}], "episode_index": 21}
+{"source_uid": "0cf37121d0e080a7", "num_frames": 3165, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand spreads its fingers and adjusts wrist posture slightly while staying at the left side of the table, with no obvious position change. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green cubic block to the left of the wooden rack, with fingers open and not touching the block."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "b348a92e-0c0e-444b-91a6-2bb73244294a"}, {"label": "valid", "start_step": 0, "end_step": 3137, "id": "QvlPAnV_LMuo3Fu7NauMd"}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green cubic block to the left of the wooden rack, with fingers open and not touching the block."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green cubic block to the left of the wooden rack, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 116, "end_step": 215, "id": "f905c330-9742-4f1b-be38-1e996f5caf85"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the upper position of the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the green block with the leftmost purple post by inserting the post into the hole of the green block."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the green block fitted on the leftmost purple post without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost purple peg, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 216, "end_step": 300, "id": "54395a73-26d2-419e-b0b8-918832573067"}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand closes its fingers around the white hexagonal piece on the table, adjusting the grip to stabilize the piece."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal nut up from the black table surface."}, {"label": "goal", "start_step": 301, "end_step": 480, "id": "deb08cbe-6772-456b-9398-ad2a69218a48"}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal nut upward and leftward towards the pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost peg of the pegboard and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal nut, with fingers opening to separate from the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: retreat: Right hand retreats downward from the pegboard towards the white hexagonal nuts on the black table."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach_grasp: Right hand moves toward the white hexagonal part on the black table and adjusts fingers continuously to grasp the part."}, {"label": "goal", "start_step": 481, "end_step": 580, "id": "de68fcff-0993-40fc-be76-036e2f841e4e"}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 581, "end_step": 695, "id": "0a2b2358-29dd-4b4b-8bdd-a39f67381b9b"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost front peg of the wooden base, aligning and inserting it down the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost front peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white ring on the purple peg of the green base, with fingers opening and moving slightly upward."}, {"label": "goal", "start_step": 696, "end_step": 780, "id": "6d9d80ec-63fc-461d-9670-4b83754bfe22"}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward toward the white hexagonal ring placed on the table above the green square block."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the table surface to the position above the front purple peg."}, {"label": "subtasks", "start_step": 772, "end_step": 779, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal ring onto the front purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface with finger adjustments."}, {"label": "goal", "start_step": 781, "end_step": 930, "id": "9c8d03f9-be86-4e9b-9b18-4fb837715c01"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it to above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 929, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal ring onto the rightmost purple peg by lowering and fitting it in place."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal ring from its grip, with fingers fully spread."}, {"label": "goal", "start_step": 931, "end_step": 980, "id": "5bef4e8a-00d2-4a8c-b0a5-45bfb524d06b"}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward to approach the green cube on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting fingers to stabilize the grip."}, {"label": "goal", "start_step": 981, "end_step": 1090, "id": "93543a5a-23d3-4afb-ab66-47928b1ec320"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it above the purple peg of the block base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the green cube with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1091, "end_step": 1160, "id": "bce30a18-459d-4a2a-8c1b-6d09f577419b"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal ring from the right area of the black table."}, {"label": "goal", "start_step": 1161, "end_step": 1270, "id": "1d115787-2cc9-4bd0-997d-6080c292ed29"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal ring leftward and upward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1259, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal block on the right column of the wooden base."}, {"label": "goal", "start_step": 1271, "end_step": 1325, "id": "09e39a06-7a31-4932-9732-db32d152572c"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "goal", "start_step": 1326, "end_step": 1830, "id": "fc3e865d-d7e3-4100-bf22-ae092c223376"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to above the purple rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1461, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand reaches toward the white hexagonal block on the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1627, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the wooden base, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal block upward off the supporting block on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal block leftward to above the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1829, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 1831, "end_step": 1885, "id": "73e08d2c-1216-4720-aa35-efcc2d7025db"}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves down and right to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1886, "end_step": 2135, "id": "0e2df53d-fe89-4198-955e-8121c9ebdbc4"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and left toward the block rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 1987, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2054, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand holds the white hexagonal block and slides it upward along the purple rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal block at the top of the purple rod without moving."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white bottle with purple top on the wooden base, with fingers opening to separate from the bottle."}, {"label": "goal", "start_step": 2136, "end_step": 2215, "id": "a8fd50ad-1e0b-4da9-ac7e-e460c7b8ccce"}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward and rightward toward the green cubic object on the table."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers adjusting contact position to form a stable grip."}, {"label": "goal", "start_step": 2216, "end_step": 3090, "id": "d4f22038-b520-4ae4-b6c9-1ca9a149375c"}, {"label": "subtasks", "start_step": 2235, "end_step": 2287, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it to the upper position of the rightmost bottle with a purple rod in the middle group."}, {"label": "subtasks", "start_step": 2288, "end_step": 2384, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: other:attempt_mate: Right hand aligns the green block with the purple rod of the rightmost bottle and repeatedly adjusts the block position to attempt fitting it onto the rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2391, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the green block, which falls from the hand onto the table surface."}, {"label": "subtasks", "start_step": 2392, "end_step": 2451, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves empty towards the green block that fell on the right side of the table, approaching the block."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green block on the right table surface, with fingers adjusting to establish a firm grip."}, {"label": "subtasks", "start_step": 2475, "end_step": 2691, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reorient: Right hand rotates the green block on the table to adjust its orientation, with the block's position nearly unchanged and remaining supported by the table."}, {"label": "subtasks", "start_step": 2692, "end_step": 2767, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the adjusted green block off the table and transports it to the upper position of the rightmost bottle with the purple rod."}, {"label": "subtasks", "start_step": 2768, "end_step": 2857, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the green block with the purple rod of the rightmost bottle and fits the block downward onto the rod."}, {"label": "subtasks", "start_step": 2858, "end_step": 2954, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reorient: Right hand adjusts the orientation of the green block fitted on the purple rod, with the block's vertical position nearly unchanged."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand opens its fingers to release the green block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2970, "end_step": 3007, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves empty towards the green block on the purple rod again, approaching the block."}, {"label": "subtasks", "start_step": 3008, "end_step": 3104, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reorient: Right hand adjusts the orientation of the green block on the purple rod to make it vertically aligned with the rod."}, {"label": "home", "start_step": 3138, "end_step": 3164, "id": "EpMElq3pUudC5UNuXsX1p"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand spreads its fingers and adjusts wrist posture slightly while staying at the left side of the table, with no obvious position change. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green cubic block to the left of the wooden rack, with fingers open and not touching the block."}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green cubic block to the left of the wooden rack, with fingers open and not touching the block."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green cubic block to the left of the wooden rack, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the upper position of the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the green block with the leftmost purple post by inserting the post into the hole of the green block."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the green block fitted on the leftmost purple post without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost purple peg, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand closes its fingers around the white hexagonal piece on the table, adjusting the grip to stabilize the piece."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal nut up from the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal nut upward and leftward towards the pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost peg of the pegboard and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal nut, with fingers opening to separate from the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: retreat: Right hand retreats downward from the pegboard towards the white hexagonal nuts on the black table."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach_grasp: Right hand moves toward the white hexagonal part on the black table and adjusts fingers continuously to grasp the part."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost front peg of the wooden base, aligning and inserting it down the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost front peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white ring on the purple peg of the green base, with fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward toward the white hexagonal ring placed on the table above the green square block."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the table surface to the position above the front purple peg."}, {"label": "subtasks", "start_step": 772, "end_step": 779, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal ring onto the front purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface with finger adjustments."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it to above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 929, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal ring onto the rightmost purple peg by lowering and fitting it in place."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal ring from its grip, with fingers fully spread."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward to approach the green cube on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it above the purple peg of the block base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the green cube with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal ring from the right area of the black table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal ring leftward and upward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1259, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal block on the right column of the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to above the purple rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1461, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand reaches toward the white hexagonal block on the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1627, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the wooden base, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal block upward off the supporting block on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal block leftward to above the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1829, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves down and right to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and left toward the block rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 1987, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2054, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand holds the white hexagonal block and slides it upward along the purple rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal block at the top of the purple rod without moving."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white bottle with purple top on the wooden base, with fingers opening to separate from the bottle."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward and rightward toward the green cubic object on the table."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers adjusting contact position to form a stable grip."}, {"label": "subtasks", "start_step": 2235, "end_step": 2287, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it to the upper position of the rightmost bottle with a purple rod in the middle group."}, {"label": "subtasks", "start_step": 2288, "end_step": 2384, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: other:attempt_mate: Right hand aligns the green block with the purple rod of the rightmost bottle and repeatedly adjusts the block position to attempt fitting it onto the rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2391, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the green block, which falls from the hand onto the table surface."}, {"label": "subtasks", "start_step": 2392, "end_step": 2451, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves empty towards the green block that fell on the right side of the table, approaching the block."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green block on the right table surface, with fingers adjusting to establish a firm grip."}, {"label": "subtasks", "start_step": 2475, "end_step": 2691, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reorient: Right hand rotates the green block on the table to adjust its orientation, with the block's position nearly unchanged and remaining supported by the table."}, {"label": "subtasks", "start_step": 2692, "end_step": 2767, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the adjusted green block off the table and transports it to the upper position of the rightmost bottle with the purple rod."}, {"label": "subtasks", "start_step": 2768, "end_step": 2857, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the green block with the purple rod of the rightmost bottle and fits the block downward onto the rod."}, {"label": "subtasks", "start_step": 2858, "end_step": 2954, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reorient: Right hand adjusts the orientation of the green block fitted on the purple rod, with the block's vertical position nearly unchanged."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand opens its fingers to release the green block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2970, "end_step": 3007, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves empty towards the green block on the purple rod again, approaching the block."}, {"label": "subtasks", "start_step": 3008, "end_step": 3104, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reorient: Right hand adjusts the orientation of the green block on the purple rod to make it vertically aligned with the rod."}], "episode_index": 22}
+{"source_uid": "e2957b38f7aa509b", "num_frames": 1769, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "396e0257-1dc8-4b6f-ab70-033b1cbd636e"}, {"label": "valid", "start_step": 0, "end_step": 1740, "id": "OVJQvocu_crLYyH-uJabZ"}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 111, "end_step": 230, "id": "471b5921-b171-43b8-881d-c1bdd330a7a2"}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fix it."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the leftmost purple peg."}, {"label": "goal", "start_step": 231, "end_step": 355, "id": "4003d3b9-1184-4648-98b3-675515146f58"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the green pillar on the table."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the green pillar."}, {"label": "goal", "start_step": 356, "end_step": 475, "id": "677650a4-8343-4339-bf94-6a25d51c2162"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block with a central hole from the green base on the black table."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the leftmost purple post of the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple post of the wooden rack."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 476, "end_step": 535, "id": "1aa7db19-d201-421a-8036-be25ed119f01"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 536, "end_step": 665, "id": "01c377e5-50a7-4e80-bd62-8f5f97f9bc8b"}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the upper wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the target purple rod of the wooden base and adjusts it to fit stably."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "goal", "start_step": 666, "end_step": 725, "id": "779fc05a-3476-4656-8292-3fdfa61d0bde"}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing fingers around it."}, {"label": "goal", "start_step": 726, "end_step": 875, "id": "822780e0-4fb4-4edc-abf5-e1e21cc92569"}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 876, "end_step": 925, "id": "03677f76-e753-46ca-860a-03be02e21328"}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white block on the wooden base and moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 926, "end_step": 1050, "id": "d5dd3b4b-e959-4f3a-ab3b-c92e759897d7"}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green hexagonal block toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1041, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1042, "end_step": 1049, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green hexagonal block and moves slightly upward."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1051, "end_step": 1105, "id": "2cab54d2-48c0-461b-9d64-b83175800e58"}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1106, "end_step": 1205, "id": "4f92b77a-3ed3-46ec-b2f2-66fafb2a25b0"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the wooden base."}, {"label": "goal", "start_step": 1206, "end_step": 1260, "id": "fec169f9-c8f4-4de5-9eed-7cdfc630b7c1"}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1261, "end_step": 1375, "id": "c287fcc1-8b99-4ae8-9249-639bfa752c1a"}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the wooden base."}, {"label": "goal", "start_step": 1376, "end_step": 1420, "id": "87245740-f1f0-41e6-9b7f-c04a28c64864"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1421, "end_step": 1530, "id": "9f4878f3-5984-4e47-8780-74e5c49ff8c7"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the purple rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 1531, "end_step": 1600, "id": "d1a4f246-d67b-4b28-8735-eb156eac9d01"}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the area near the wooden bottle tray towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1601, "end_step": 1700, "id": "f20bc3c8-1491-4aec-aa58-dbbb8b3efd91"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the purple-capped bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the purple-capped bottle to secure the fitting."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the bottle tray area."}, {"label": "home", "start_step": 1741, "end_step": 1768, "id": "m7uhEZfgDaUyi4zmWXpV1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block in front of the wooden rack."}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fix it."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the leftmost purple peg."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the green pillar on the table."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the green pillar."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block with a central hole from the green base on the black table."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the leftmost purple post of the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple post of the wooden rack."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the upper wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the target purple rod of the wooden base and adjusts it to fit stably."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing fingers around it."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white block on the wooden base and moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green hexagonal block toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1041, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1042, "end_step": 1049, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green hexagonal block and moves slightly upward."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the purple rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the area near the wooden bottle tray towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the purple-capped bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the purple-capped bottle to secure the fitting."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the bottle tray area."}], "episode_index": 23}
+{"source_uid": "dcc4b0af3a78025b", "num_frames": 1663, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture from an upward-pointing closed position to an open extended position at the left side of the workspace, making no contact with any object. | Right hand: reach: Right hand moves from the right initial position downward and left toward the green hexagonal nut on the black table surface, with open fingers and no contact with any object during movement."}, {"label": "goal", "start_step": 0, "end_step": 105, "id": "0a255f0d-545b-407a-a86d-ee5a981f02c2"}, {"label": "valid", "start_step": 0, "end_step": 1634, "id": "VbwepzOK_Vm6mRXQmKqRo"}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves from the right initial position downward and left toward the green hexagonal nut on the black table surface, with open fingers and no contact with any object during movement."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, adjusting finger positions and closing fingers around the nut to form a grasp while the nut remains on the table surface."}, {"label": "goal", "start_step": 106, "end_step": 225, "id": "ba11b9ae-a287-4cd0-b703-4086f27867b1"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 150, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit onto the peg, adjusting position to seat the block on top of the existing green block on the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the seated green hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward from above the wooden peg assembly toward the white hexagonal nut on the black table surface, with fingers kept open."}, {"label": "goal", "start_step": 226, "end_step": 270, "id": "c55f0b27-0a00-469e-bcc0-cc4aeaa11adf"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 271, "end_step": 370, "id": "535b5b55-1f31-4d9b-a0ee-06e4567758c1"}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: transport: Right hand moves the lifted white hexagonal nut toward the top of the empty purple peg on the wooden peg assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple peg, lowers the nut onto the peg to complete the assembly, opens fingers to release the nut."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty downward and backward away from the wooden peg assembly, retreating from the previous operation area with fingers slightly open."}, {"label": "goal", "start_step": 371, "end_step": 435, "id": "76519428-88c9-4d60-91c6-f16c66cf2742"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface, approaching the target with open fingers."}, {"label": "subtasks", "start_step": 412, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface to establish a grip on the object."}, {"label": "goal", "start_step": 436, "end_step": 560, "id": "387479e9-3384-49d8-bfa9-70d5ec8f7b74"}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface while moving it upward to the area directly above the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal nut with the empty purple peg, lowering the nut to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward from the upper section of the block rack toward the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 561, "end_step": 610, "id": "5490fd26-35ae-481d-82dd-a85e6c843e72"}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers to form a stable grip around the white hexagonal nut on the table."}, {"label": "goal", "start_step": 611, "end_step": 705, "id": "48ba9832-b9d8-4e94-8b49-65e8c6cdd52b"}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift: Right hand raises the grasped white hexagonal nut upward until it is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the empty purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate_release: Right hand positions the white hexagonal nut over the purple peg, lowers the nut to fit onto the peg, and opens fingers to release the secured nut."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the table surface near the wooden assembly base, with fingers held open as it approaches the target."}, {"label": "goal", "start_step": 706, "end_step": 760, "id": "c7d611ce-71e1-4da3-b6e7-000aa9533ff5"}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip on the object, which remains resting on the table surface."}, {"label": "goal", "start_step": 761, "end_step": 850, "id": "57be4c21-27c7-46ba-90aa-3f64f1bfe1fb"}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block fully off the table surface and moves it upward to position it directly above the empty purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg and lowers the block to fit it securely onto the peg as part of the assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the white hexagonal post along the purple rod on the wooden base until the post is fully seated and supported by the base."}, {"label": "goal", "start_step": 851, "end_step": 915, "id": "429b3cd4-b92b-4c3e-9695-9a75ab6aeb4f"}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface near the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds a white hexagonal nut resting on the dark table surface without moving."}, {"label": "goal", "start_step": 916, "end_step": 1000, "id": "ad9c12aa-3d5a-43ed-989b-549463caf47e"}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden assembly block and lowers the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the purple cylindrical rod on the wooden assembly base, breaking contact with the rod."}, {"label": "goal", "start_step": 1001, "end_step": 1070, "id": "f282e188-1041-4a19-87eb-a23d495a0d9b"}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut placed on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, adjusting finger contact positions to form a grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal ring resting on the black table surface without any observable movement."}, {"label": "goal", "start_step": 1071, "end_step": 1165, "id": "397b709f-d04f-4a31-bcf5-352d5c41f849"}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface, moves it upward and leftward to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal ring with the purple rod on the wooden base, lowers the ring to fit onto the rod, opens fingers to separate from the assembled ring."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the dark table surface."}, {"label": "goal", "start_step": 1166, "end_step": 1240, "id": "fa54bfca-a4b7-4789-97a5-d0f741fdbbcb"}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers to make contact and establish a grip on the white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal nut steadily with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift: Right hand grips the white hexagonal block resting on the dark table surface and lifts it upward until the block is fully separated from the table."}, {"label": "goal", "start_step": 1241, "end_step": 1410, "id": "9dd9b5f4-76c8-4cc8-8889-ade60935a9c2"}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the wooden base, moving the block to the position directly above the purple vertical rod on the base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1394, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, lowers the block, and adjusts its position to fit the block securely onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers gradually to release the assembled white hexagonal block, and moves the fingers slightly away from the block surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward from the area adjacent to the block stack to approach the green hexagonal block resting on the table surface."}, {"label": "goal", "start_step": 1411, "end_step": 1475, "id": "1f109e3f-3f65-45c5-9cb2-ca98609db9e9"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1476, "end_step": 1595, "id": "1b55b4f8-446f-445e-b116-80fb7ee2715b"}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green block off the table and transports it upward to the position directly above the purple-topped peg on the wooden block base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1574, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the purple-topped peg, fitting the block onto the top of the peg."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the green block down along the peg until the block rests stably on the supporting white block below."}, {"label": "home", "start_step": 1635, "end_step": 1662, "id": "wF6OboT5nniZtkZ39e9EK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture from an upward-pointing closed position to an open extended position at the left side of the workspace, making no contact with any object. | Right hand: reach: Right hand moves from the right initial position downward and left toward the green hexagonal nut on the black table surface, with open fingers and no contact with any object during movement."}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves from the right initial position downward and left toward the green hexagonal nut on the black table surface, with open fingers and no contact with any object during movement."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, adjusting finger positions and closing fingers around the nut to form a grasp while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 150, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit onto the peg, adjusting position to seat the block on top of the existing green block on the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the seated green hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward from above the wooden peg assembly toward the white hexagonal nut on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: transport: Right hand moves the lifted white hexagonal nut toward the top of the empty purple peg on the wooden peg assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple peg, lowers the nut onto the peg to complete the assembly, opens fingers to release the nut."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty downward and backward away from the wooden peg assembly, retreating from the previous operation area with fingers slightly open."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface, approaching the target with open fingers."}, {"label": "subtasks", "start_step": 412, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface to establish a grip on the object."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface while moving it upward to the area directly above the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal nut with the empty purple peg, lowering the nut to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward from the upper section of the block rack toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers to form a stable grip around the white hexagonal nut on the table."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift: Right hand raises the grasped white hexagonal nut upward until it is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the empty purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate_release: Right hand positions the white hexagonal nut over the purple peg, lowers the nut to fit onto the peg, and opens fingers to release the secured nut."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the table surface near the wooden assembly base, with fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip on the object, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block fully off the table surface and moves it upward to position it directly above the empty purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg and lowers the block to fit it securely onto the peg as part of the assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the white hexagonal post along the purple rod on the wooden base until the post is fully seated and supported by the base."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface near the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds a white hexagonal nut resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden assembly block and lowers the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the purple cylindrical rod on the wooden assembly base, breaking contact with the rod."}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut placed on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, adjusting finger contact positions to form a grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal ring resting on the black table surface without any observable movement."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface, moves it upward and leftward to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal ring with the purple rod on the wooden base, lowers the ring to fit onto the rod, opens fingers to separate from the assembled ring."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the dark table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers to make contact and establish a grip on the white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal nut steadily with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift: Right hand grips the white hexagonal block resting on the dark table surface and lifts it upward until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the wooden base, moving the block to the position directly above the purple vertical rod on the base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1394, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, lowers the block, and adjusts its position to fit the block securely onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers gradually to release the assembled white hexagonal block, and moves the fingers slightly away from the block surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward from the area adjacent to the block stack to approach the green hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green block off the table and transports it upward to the position directly above the purple-topped peg on the wooden block base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1574, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the purple-topped peg, fitting the block onto the top of the peg."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the green block down along the peg until the block rests stably on the supporting white block below."}], "episode_index": 24}
+{"source_uid": "06a115c3668dc58e", "num_frames": 1725, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block near the wooden base, without contacting the block."}, {"label": "goal", "start_step": 0, "end_step": 95, "id": "537c444f-76f2-4155-aab5-973cb463e447"}, {"label": "valid", "start_step": 0, "end_step": 1697, "id": "k27i3JW4YH7kodI9Mco4y"}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing to form a stable grip on the block."}, {"label": "subtasks", "start_step": 82, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 96, "end_step": 200, "id": "72398e99-4dd9-4948-9d70-9a6ffff317d5"}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it above the purple vertical pegs."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the left purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the assembly rack area to approach the white hexagonal piece on the black table."}, {"label": "goal", "start_step": 201, "end_step": 285, "id": "e57d04d4-5488-4774-a76e-fa1bca0ed16e"}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the left table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 286, "end_step": 385, "id": "5e387319-f6da-4123-9d07-3cc09e9d51b2"}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and rightward toward the peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the vertical peg of the peg board, pressing it downward to fully fit onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white part on the pegboard, with fingers opening from closed position."}, {"label": "goal", "start_step": 386, "end_step": 440, "id": "ee8b6133-84df-45d6-b165-5cde77cbb8fb"}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing around the part."}, {"label": "goal", "start_step": 441, "end_step": 585, "id": "16179a7c-c52c-4f19-bfef-b3248c33c742"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it upward toward the pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the peg on the pegboard and fits it onto the peg for assembly."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block from its grip, leaving it on the purple peg of the wooden base."}, {"label": "goal", "start_step": 586, "end_step": 645, "id": "6f875525-9ace-405c-931f-5286af48d5b2"}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 646, "end_step": 740, "id": "578bd003-356b-4aee-bd19-194b0920b743"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the area above the wooden base's purple peg."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the middle purple peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 741, "end_step": 800, "id": "818d3493-7cbc-4587-9e1d-e3aeb3be1332"}, {"label": "subtasks", "start_step": 758, "end_step": 801, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand moves toward the green hexagonal block on the table and closes its fingers to grasp the block."}, {"label": "goal", "start_step": 801, "end_step": 895, "id": "1361e86b-0d28-49be-8933-22f54192efc7"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand fits the green hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the purple rod on the pegboard, with fingers opening to separate from the rod."}, {"label": "goal", "start_step": 896, "end_step": 960, "id": "26f52ce2-76eb-48a7-b542-c9b260d8e0c1"}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "goal", "start_step": 961, "end_step": 1075, "id": "cf7c768f-6882-4ec0-9434-05104a20eae9"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and transports it toward the peg assembly on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1057, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal piece onto the target peg of the wooden block set."}, {"label": "subtasks", "start_step": 1058, "end_step": 1064, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the target peg without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it into position."}, {"label": "goal", "start_step": 1076, "end_step": 1135, "id": "0feb8459-c6f7-43ab-b555-0fccc4d7c12c"}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing."}, {"label": "goal", "start_step": 1136, "end_step": 1260, "id": "7762e4eb-2e3a-4931-aec6-7f3be0a1327e"}, {"label": "subtasks", "start_step": 1148, "end_step": 1154, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1251, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1261, "end_step": 1315, "id": "029dd630-6470-4e9f-a68c-888d97703aa3"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1316, "end_step": 1433, "id": "c32c57ee-1742-461a-9008-14f7d6a684b1"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1358, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hollow cylinder on the wooden rack, with fingers opening and separating from the cylinder."}, {"label": "goal", "start_step": 1434, "end_step": 1503, "id": "d5ab6de9-431a-4884-a093-26ad84d11c8b"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the green block on the right area of the table, moving downward and rightward."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing around the block to form a grip."}, {"label": "goal", "start_step": 1504, "end_step": 1663, "id": "eb0886a7-c7e3-4930-b532-286fabac5768"}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it toward the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1568, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand slides the green square block down along the rightmost peg until it rests on the white block at the bottom of the peg."}, {"label": "home", "start_step": 1698, "end_step": 1724, "id": "_JA0KaW2GBVXUaFpJwkLU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block near the wooden base, without contacting the block."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing to form a stable grip on the block."}, {"label": "subtasks", "start_step": 82, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it above the purple vertical pegs."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the left purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the assembly rack area to approach the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the left table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and rightward toward the peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the vertical peg of the peg board, pressing it downward to fully fit onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white part on the pegboard, with fingers opening from closed position."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing around the part."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it upward toward the pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the peg on the pegboard and fits it onto the peg for assembly."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block from its grip, leaving it on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the area above the wooden base's purple peg."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the middle purple peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 758, "end_step": 801, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand moves toward the green hexagonal block on the table and closes its fingers to grasp the block."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand fits the green hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the purple rod on the pegboard, with fingers opening to separate from the rod."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and transports it toward the peg assembly on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1057, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal piece onto the target peg of the wooden block set."}, {"label": "subtasks", "start_step": 1058, "end_step": 1064, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the target peg without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it into position."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1148, "end_step": 1154, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1251, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1358, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hollow cylinder on the wooden rack, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the green block on the right area of the table, moving downward and rightward."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it toward the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1568, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand slides the green square block down along the rightmost peg until it rests on the white block at the bottom of the peg."}], "episode_index": 25}
+{"source_uid": "c6dcf9b30f858c09", "num_frames": 1954, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty toward the green block on the middle lower area of the black table."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "ac826b52-c764-40dd-a6be-21859b034140"}, {"label": "valid", "start_step": 0, "end_step": 1921, "id": "xVx8xP-5P9aYNkiP5oe94"}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand makes contact with the green block, fingers adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 111, "end_step": 220, "id": "26679bfd-a8fe-4958-82fb-a722d9987bf1"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green cubic block towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden board."}, {"label": "goal", "start_step": 221, "end_step": 280, "id": "d27cfab4-97e3-45ff-a53d-92ab1cead2ca"}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing."}, {"label": "goal", "start_step": 281, "end_step": 380, "id": "779a1299-6493-4a3d-94ba-7ae20b229bb2"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 381, "end_step": 455, "id": "38bf0817-8931-4d94-a446-a30b76951a70"}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 456, "end_step": 585, "id": "e2553a70-f928-4dd4-bff1-5c6c212ac9d1"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost vertical peg of the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "goal", "start_step": 586, "end_step": 650, "id": "ece136c4-3c88-4f90-bd95-106d9b84136f"}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 651, "end_step": 760, "id": "2dd19ee0-9495-4034-8da5-f79fe753687d"}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves upward away from the purple rod after completing placement."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white cylindrical block on the purple rod upwards."}, {"label": "goal", "start_step": 761, "end_step": 815, "id": "9988bf58-3e0c-4ad0-a15e-629a81e86d2c"}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches towards the green hexagonal block on the black table."}, {"label": "goal", "start_step": 816, "end_step": 950, "id": "ae05d3c6-8b2a-4f2b-953f-c25e9edfaa16"}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 945, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 951, "end_step": 1020, "id": "b6d8a4b1-2bf2-4288-a4f5-7677ed85d31f"}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1021, "end_step": 1150, "id": "04d72dff-1680-4a19-bb8c-944910f79028"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal object, fingers open to separate from the object."}, {"label": "goal", "start_step": 1151, "end_step": 1195, "id": "256f6e23-e30a-4d36-9c55-1b0c1467fc61"}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "goal", "start_step": 1196, "end_step": 1320, "id": "c2fce380-b9e7-4d7b-bd1e-acdf4063a050"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the purple rod."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the purple rod and moves away slightly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black tabletop."}, {"label": "goal", "start_step": 1321, "end_step": 1375, "id": "4e76a3a1-e58c-48d8-80a4-090a0cd933d3"}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "goal", "start_step": 1376, "end_step": 1725, "id": "b30b6145-0c61-4141-b76d-4dbf2966df32"}, {"label": "subtasks", "start_step": 1388, "end_step": 1447, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block toward the purple vertical rod on the wooden board."}, {"label": "subtasks", "start_step": 1448, "end_step": 1717, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the green cubic block on the black table surface."}, {"label": "goal", "start_step": 1726, "end_step": 1775, "id": "65a6438c-3280-4c5e-b01b-cd29363c5744"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing."}, {"label": "goal", "start_step": 1776, "end_step": 1890, "id": "4ea5c3a0-d9e0-4a7d-af45-75b699907717"}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the white pillar on the right of the wooden tray."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block onto the top of the target white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the green cubic block and retreats from the wooden tray."}, {"label": "home", "start_step": 1922, "end_step": 1953, "id": "IHVqz0nLV3M24wmGHIM4j"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty toward the green block on the middle lower area of the black table."}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand makes contact with the green block, fingers adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green cubic block towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost vertical peg of the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves upward away from the purple rod after completing placement."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white cylindrical block on the purple rod upwards."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 945, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal object, fingers open to separate from the object."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the purple rod."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the purple rod and moves away slightly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 1388, "end_step": 1447, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block toward the purple vertical rod on the wooden board."}, {"label": "subtasks", "start_step": 1448, "end_step": 1717, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the white pillar on the right of the wooden tray."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block onto the top of the target white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the green cubic block and retreats from the wooden tray."}], "episode_index": 26}
+{"source_uid": "cff8f003c1f7a183", "num_frames": 2074, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves while empty from its initial raised position on the right side of the workspace, traveling downward and left toward the green hexagonal block on the table in front of the wooden peg set, with fingers held extended as it approaches the target block."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "5c1e721c-3195-4f2f-9b35-d11e486ed5d1"}, {"label": "valid", "start_step": 0, "end_step": 2041, "id": "Eo1Ayc693MLTeEx45R6yS"}, {"label": "subtasks", "start_step": 90, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal block on the table surface, adjusting finger positions to establish contact and form a grip on the block."}, {"label": "goal", "start_step": 111, "end_step": 220, "id": "e29a9fe2-e0b3-42ed-9a60-58a6ea6c30c2"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, positioning the block to fit onto the rod during assembly."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple rod until it rests on the wooden base, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward from the area above the pegboard toward the white hexagonal nut placed on the table surface, with no contact to the nut."}, {"label": "goal", "start_step": 221, "end_step": 275, "id": "76716364-a50e-4b2e-8f71-d213fc185748"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 276, "end_step": 385, "id": "d33985de-eaf0-4674-8fa1-590098d19579"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the pegboard, making slight positional adjustments to fit the nut onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple peg of the wooden assembly base, fingers opening to release the block once it is supported by the peg."}, {"label": "goal", "start_step": 386, "end_step": 510, "id": "a223df68-ce6e-4f55-9074-79500aa05e14"}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip with the block remaining on the table."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it toward the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift: Right hand grips the white hexagonal nut resting on the black table surface and lifts it upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 511, "end_step": 655, "id": "2949fd07-bf84-4d20-a374-338911562f08"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: transport: Right hand moves the gripped white hexagonal nut upward and toward the purple posts on the wooden block assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the target purple post on the wooden base and lowers it to fit securely onto the post."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, separating from the nut on the purple post."}, {"label": "goal", "start_step": 656, "end_step": 710, "id": "4d6644f7-73be-402f-be49-1f5054dbb9a6"}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut placed on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains on the table surface."}, {"label": "goal", "start_step": 711, "end_step": 825, "id": "2453a378-822c-4540-b170-25c6daae1959"}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the table surface, moving it upward to position it above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 758, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: place_release: Right hand lowers the aligned white hexagonal nut onto the purple peg until the nut rests stably on the wooden base, with fingers opening to release grip on the nut."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward with open fingers, empty, approaching the green hexagonal nut resting on the black table surface near the wooden assembly base."}, {"label": "goal", "start_step": 826, "end_step": 880, "id": "8db400c4-91bb-4bb5-950d-9d0b5fb27ea6"}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table, making slight adjustments to establish a stable grip on the nut."}, {"label": "goal", "start_step": 881, "end_step": 995, "id": "3e1b1c1d-42be-461c-97e3-fe5e6b93af1c"}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut fully off the table surface, moves it upward and leftward to position it directly above the unoccupied purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal nut with the purple rod, lowers the nut to slide it fully onto the rod until it rests on the supporting white nut below, opens fingers to release the assembled nut."}, {"label": "goal", "start_step": 996, "end_step": 1115, "id": "8fd4d389-c790-4073-b089-a971bd4fb057"}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a grip on the nut."}, {"label": "goal", "start_step": 1116, "end_step": 1280, "id": "1ce566fd-27dd-446d-b190-0502f64c848f"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table, transports it upward and forward to position it above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release_retreat: Right hand opens fingers to release the fitted white hexagonal nut, moving the empty hand backward away from the assembled block set."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward from above the wooden block set toward the upright white hexagonal nut on the table near the block base, with fingers held in a partially open posture."}, {"label": "goal", "start_step": 1281, "end_step": 1540, "id": "3b05fb96-7047-4d54-82b9-28cf1f0c2d11"}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers to contact the upright white hexagonal nut, causing the nut to topple over onto the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens fingers to release contact with the toppled white hexagonal nut, moving slightly upward and away from the nut."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves leftward across the table surface toward the toppled white hexagonal nut, keeping fingers open as it approaches the target."}, {"label": "subtasks", "start_step": 1410, "end_step": 1507, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the toppled white hexagonal nut on the table, making small adjustments to finger positions and wrist angle to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1508, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily above the table surface, with no visible movement of the hand, fingers, or the held nut."}, {"label": "goal", "start_step": 1541, "end_step": 1675, "id": "053d921d-1602-4343-bb95-fd6e25b9801f"}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod, mating the nut with the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens fingers to release the mated white hexagonal nut, separating the hand from the nut."}, {"label": "goal", "start_step": 1676, "end_step": 1750, "id": "272ef555-4d47-4b4f-b9f4-93a3b39cd098"}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple post of the wooden block base, moves downward toward the white hexagonal nut on the table surface with extended fingers approaching the target nut."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the black table surface, fingers gradually close around the nut, with small finger adjustments to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 1751, "end_step": 1850, "id": "9d469720-01f6-44af-a991-42623dedcacb"}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: transport: Right hand moves the held white hexagonal block through the air toward the purple vertical post on the wooden block stand."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post and lowers the block to fit onto the post, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens fingers to release the light purple cylinder placed on the rightmost position of the block rack, separating from the cylinder."}, {"label": "goal", "start_step": 1851, "end_step": 1910, "id": "d25b9ce5-a045-45a6-b945-409a8ef51d5f"}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward toward the green block resting on the black table surface while keeping the hand empty."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green block on the table to form a stable grasp, with the block still on the table surface."}, {"label": "goal", "start_step": 1911, "end_step": 2000, "id": "c8d89685-5320-4519-984b-c65dc73043c6"}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: transport: Right hand carries the green block upward and leftward through the air to position it directly above the light purple cylinder on the block rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the green block with the light purple cylinder below, moves the block downward to fit it securely onto the top of the cylinder."}, {"label": "home", "start_step": 2042, "end_step": 2073, "id": "5UcDM5aSfRAImshgwgsye"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves while empty from its initial raised position on the right side of the workspace, traveling downward and left toward the green hexagonal block on the table in front of the wooden peg set, with fingers held extended as it approaches the target block."}, {"label": "subtasks", "start_step": 90, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal block on the table surface, adjusting finger positions to establish contact and form a grip on the block."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, positioning the block to fit onto the rod during assembly."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple rod until it rests on the wooden base, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward from the area above the pegboard toward the white hexagonal nut placed on the table surface, with no contact to the nut."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the pegboard, making slight positional adjustments to fit the nut onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple peg of the wooden assembly base, fingers opening to release the block once it is supported by the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip with the block remaining on the table."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it toward the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift: Right hand grips the white hexagonal nut resting on the black table surface and lifts it upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: transport: Right hand moves the gripped white hexagonal nut upward and toward the purple posts on the wooden block assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the target purple post on the wooden base and lowers it to fit securely onto the post."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, separating from the nut on the purple post."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut placed on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the table surface, moving it upward to position it above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 758, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: place_release: Right hand lowers the aligned white hexagonal nut onto the purple peg until the nut rests stably on the wooden base, with fingers opening to release grip on the nut."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward with open fingers, empty, approaching the green hexagonal nut resting on the black table surface near the wooden assembly base."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table, making slight adjustments to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut fully off the table surface, moves it upward and leftward to position it directly above the unoccupied purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal nut with the purple rod, lowers the nut to slide it fully onto the rod until it rests on the supporting white nut below, opens fingers to release the assembled nut."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table, transports it upward and forward to position it above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release_retreat: Right hand opens fingers to release the fitted white hexagonal nut, moving the empty hand backward away from the assembled block set."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward from above the wooden block set toward the upright white hexagonal nut on the table near the block base, with fingers held in a partially open posture."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers to contact the upright white hexagonal nut, causing the nut to topple over onto the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens fingers to release contact with the toppled white hexagonal nut, moving slightly upward and away from the nut."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves leftward across the table surface toward the toppled white hexagonal nut, keeping fingers open as it approaches the target."}, {"label": "subtasks", "start_step": 1410, "end_step": 1507, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the toppled white hexagonal nut on the table, making small adjustments to finger positions and wrist angle to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1508, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily above the table surface, with no visible movement of the hand, fingers, or the held nut."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod, mating the nut with the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens fingers to release the mated white hexagonal nut, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple post of the wooden block base, moves downward toward the white hexagonal nut on the table surface with extended fingers approaching the target nut."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the black table surface, fingers gradually close around the nut, with small finger adjustments to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: transport: Right hand moves the held white hexagonal block through the air toward the purple vertical post on the wooden block stand."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post and lowers the block to fit onto the post, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens fingers to release the light purple cylinder placed on the rightmost position of the block rack, separating from the cylinder."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward toward the green block resting on the black table surface while keeping the hand empty."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green block on the table to form a stable grasp, with the block still on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: transport: Right hand carries the green block upward and leftward through the air to position it directly above the light purple cylinder on the block rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the green block with the light purple cylinder below, moves the block downward to fit it securely onto the top of the cylinder."}], "episode_index": 27}
+{"source_uid": "5265b91e52729003", "num_frames": 1954, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface, with wrist rotating slightly downward and fingers kept open."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "5e69cf34-d63d-4086-8d02-f60607474b46"}, {"label": "valid", "start_step": 0, "end_step": 1926, "id": "6NimkTW2Sra8NaGYPJFge"}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table surface to establish a stable grasp."}, {"label": "goal", "start_step": 126, "end_step": 255, "id": "1476df6c-ac81-4eca-bb65-7cb871cec99e"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost purple peg of the rack."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the rack by inserting it downwards along the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green hexagonal block from the leftmost purple peg and retreats downwards."}, {"label": "goal", "start_step": 256, "end_step": 305, "id": "5eade3fa-ec79-4889-a0bb-ed6960093365"}, {"label": "subtasks", "start_step": 270, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg rack area to approach the white hexagonal block on the black table surface, without making contact."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts to form a stable grasp."}, {"label": "goal", "start_step": 306, "end_step": 440, "id": "a00774fd-4d5a-45d4-8cb5-f4db543a55b7"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple peg on the rack."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal part onto the front-left purple peg of the wooden base, releasing its grip."}, {"label": "goal", "start_step": 441, "end_step": 490, "id": "4e25c86a-4a16-406a-b4c7-f806a6ae6e0e"}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "goal", "start_step": 491, "end_step": 630, "id": "c426e29a-c55c-4147-8553-150f04edba1d"}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the table toward the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal part onto the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand assembles the white hollow cylindrical part onto the rightmost purple vertical post on the wooden base and releases its grip."}, {"label": "goal", "start_step": 631, "end_step": 705, "id": "3a2f1649-067f-4c59-a521-758f00691d02"}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal piece on the black table and lifts it off the table surface."}, {"label": "goal", "start_step": 706, "end_step": 820, "id": "0a6cc755-24c5-44fc-aaff-a426363d4027"}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod, with fingers opening and separating from the piece."}, {"label": "goal", "start_step": 821, "end_step": 885, "id": "948cc02a-f833-4697-a533-27087d2ea7d6"}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the purple peg of the wooden board and releases the piece."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table below the wooden peg board."}, {"label": "subtasks", "start_step": 855, "end_step": 907, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 886, "end_step": 1070, "id": "b6701200-43f2-48a2-9caf-45c3170f5bb1"}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward and rightward to the top of the rightmost purple rod."}, {"label": "subtasks", "start_step": 922, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost purple rod and inserts it downward along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases it."}, {"label": "goal", "start_step": 1071, "end_step": 1130, "id": "893254f8-49fc-4e99-b8f2-149e12e52b99"}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal ring on the table and grasps it."}, {"label": "goal", "start_step": 1131, "end_step": 1240, "id": "e4370728-881c-41e4-9513-ba7a5d36f441"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring and transports it to the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base, with fingers opening from a closed gripping position."}, {"label": "goal", "start_step": 1241, "end_step": 1294, "id": "72846bb0-7d2c-4803-b16e-2fa9433f16f4"}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1295, "end_step": 1419, "id": "7d685aea-a323-40ae-a9c6-4cc983f11c6b"}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface as fingers close around the object."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the top of the purple rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases the grip."}, {"label": "goal", "start_step": 1420, "end_step": 1479, "id": "d4ce91a3-5906-4192-be1e-b0914abf0540"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1480, "end_step": 1679, "id": "2172763b-1b0a-4a63-845c-85ac95c78ca4"}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing."}, {"label": "goal", "start_step": 1680, "end_step": 1689, "id": "8261f2bc-610f-453a-9cdb-db3e0f61f629"}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the black table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1690, "end_step": 1884, "id": "b81ab2da-c15b-4b36-ac94-e1a8bec696f9"}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green ring from the table toward the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1740, "end_step": 1867, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring with the rightmost white bottle by aligning the ring's hole with the bottle's top peg and lowering it onto the bottle."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring, with fingers opening and separating from the ring."}, {"label": "home", "start_step": 1927, "end_step": 1953, "id": "6AEmqB9Z2i3DW_quqR-O0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface, with wrist rotating slightly downward and fingers kept open."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost purple peg of the rack."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the rack by inserting it downwards along the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green hexagonal block from the leftmost purple peg and retreats downwards."}, {"label": "subtasks", "start_step": 270, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg rack area to approach the white hexagonal block on the black table surface, without making contact."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts to form a stable grasp."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple peg on the rack."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal part onto the front-left purple peg of the wooden base, releasing its grip."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the table toward the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal part onto the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand assembles the white hollow cylindrical part onto the rightmost purple vertical post on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal piece on the black table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the purple peg of the wooden board and releases the piece."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table below the wooden peg board."}, {"label": "subtasks", "start_step": 855, "end_step": 907, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward and rightward to the top of the rightmost purple rod."}, {"label": "subtasks", "start_step": 922, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost purple rod and inserts it downward along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal ring on the table and grasps it."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring and transports it to the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base, with fingers opening from a closed gripping position."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface as fingers close around the object."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the top of the purple rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the black table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green ring from the table toward the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1740, "end_step": 1867, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring with the rightmost white bottle by aligning the ring's hole with the bottle's top peg and lowering it onto the bottle."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring, with fingers opening and separating from the ring."}], "episode_index": 28}
+{"source_uid": "119f9fa99ff61977", "num_frames": 1883, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table top."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "8f930eca-6f5f-4b9a-97a5-90656765dc66"}, {"label": "valid", "start_step": 0, "end_step": 1854, "id": "97SRYQAY9nt_qfPz9Ycr_"}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 116, "end_step": 220, "id": "08eb4bf9-07ae-4ec2-976c-457abd84860f"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the wooden peg base."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost peg of the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down to the bottom of the peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the purple rod on the wooden base."}, {"label": "goal", "start_step": 221, "end_step": 280, "id": "d0b63af5-dd03-48d0-96c5-3caba3858b05"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the lifted white hexagonal block onto the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 281, "end_step": 420, "id": "e4e2828a-ff8c-4484-bf12-840abb63f922"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and pressing it down to fit properly."}, {"label": "subtasks", "start_step": 412, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the lower part of the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 421, "end_step": 460, "id": "6097971e-30de-4181-968c-06acd9179040"}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 461, "end_step": 570, "id": "c49ca956-af37-4bbe-8e0a-8f1db0aa9727"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the purple cylindrical part away from the wooden mounting base."}, {"label": "goal", "start_step": 571, "end_step": 690, "id": "a4fd217e-db9a-4eeb-b217-4fa22721d752"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the purple cylindrical part downward toward the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the purple cylindrical part on the black table surface and releases its grip."}, {"label": "subtasks", "start_step": 622, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 691, "end_step": 810, "id": "10e130d0-7015-4b81-8258-ceabeb702891"}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the target purple stick on the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple stick, pushing it down until it is fully seated on the stick."}, {"label": "subtasks", "start_step": 810, "end_step": 817, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is successfully mated onto the stick."}, {"label": "goal", "start_step": 811, "end_step": 870, "id": "6562ebb8-ab46-40de-b85e-ccc4b0763cd9"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 871, "end_step": 980, "id": "52e3abec-26ce-492a-9459-723b4d242fd7"}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the green hexagonal block onto the purple peg and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 981, "end_step": 1185, "id": "e7a9cee0-6e3d-45a7-a525-22adc77d30eb"}, {"label": "subtasks", "start_step": 1005, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "goal", "start_step": 1186, "end_step": 1300, "id": "870ba424-f5f2-482c-b5c0-fde3a2f1d30c"}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal object towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the target peg by aligning and fitting it onto the peg."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the rightmost rear peg of the wooden base."}, {"label": "goal", "start_step": 1301, "end_step": 1370, "id": "245b0988-06a1-47f1-924c-b0bf551f4987"}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1371, "end_step": 1455, "id": "c453c99d-8705-493a-b378-b9d6d9a791f7"}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_place: Right hand aligns the white hexagonal block with the purple rod and places it onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1456, "end_step": 1530, "id": "777ecd0c-8d6b-466b-8b3c-f05bbbae8b5d"}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block."}, {"label": "goal", "start_step": 1531, "end_step": 1640, "id": "116f168c-f3d6-47f4-807c-e65317cc76a4"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white ring and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring placed on the purple rod."}, {"label": "goal", "start_step": 1641, "end_step": 1705, "id": "20d48600-f816-4e94-b535-4b1eef5efefa"}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves from the position near the wooden block base towards the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table."}, {"label": "goal", "start_step": 1706, "end_step": 1810, "id": "c8899e7f-2264-4f1e-9b83-b73ddd45e71c"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the rightmost white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white cylinder and inserts it onto the cylinder."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the green cubic block."}, {"label": "home", "start_step": 1855, "end_step": 1882, "id": "rUwy3yplvlv49iLGeBlcp"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table top."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the wooden peg base."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost peg of the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down to the bottom of the peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the lifted white hexagonal block onto the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and pressing it down to fit properly."}, {"label": "subtasks", "start_step": 412, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the lower part of the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the purple cylindrical part away from the wooden mounting base."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the purple cylindrical part downward toward the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the purple cylindrical part on the black table surface and releases its grip."}, {"label": "subtasks", "start_step": 622, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the target purple stick on the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple stick, pushing it down until it is fully seated on the stick."}, {"label": "subtasks", "start_step": 810, "end_step": 817, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is successfully mated onto the stick."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the green hexagonal block onto the purple peg and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal object towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the target peg by aligning and fitting it onto the peg."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the rightmost rear peg of the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_place: Right hand aligns the white hexagonal block with the purple rod and places it onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white ring and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring placed on the purple rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves from the position near the wooden block base towards the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the rightmost white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white cylinder and inserts it onto the cylinder."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the green cubic block."}], "episode_index": 29}
+{"source_uid": "03f4358f4d3733e3", "num_frames": 2081, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "463d3883-9c8b-48c0-ad9b-f10147c8132b"}, {"label": "valid", "start_step": 0, "end_step": 2052, "id": "cUoZILfsVBWhd-7AnpGFm"}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut in front of the wooden pegboard with an open hand, approaching the target without making contact."}, {"label": "subtasks", "start_step": 90, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, fingers close and make fine adjustments to establish a stable grasp on the object."}, {"label": "goal", "start_step": 116, "end_step": 230, "id": "84731e51-11aa-47f3-ac34-54e1c12833db"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal nut to align with the purple peg on the wooden assembly, lowering it to fit securely onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal nut fitted on the purple peg, separating from the nut surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward from the pegboard area to approach the white hexagonal block placed on the table surface."}, {"label": "goal", "start_step": 231, "end_step": 290, "id": "1a15a771-7c93-49ff-a0dd-2fde276af560"}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table and adjusts finger positions to form a stable grasp."}, {"label": "goal", "start_step": 291, "end_step": 445, "id": "d77b77c0-080d-4e3c-818c-d04d4ec35804"}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: press_release: Right hand presses down on the top of the hexagonal block on the wooden pegboard, fingers opening to release contact with the block."}, {"label": "goal", "start_step": 446, "end_step": 510, "id": "3df033b3-9a0d-4596-87f5-c4cfe4a1c6f7"}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers closing and making small adjustments to establish a stable grasp."}, {"label": "goal", "start_step": 511, "end_step": 645, "id": "c0654bc0-5847-4ac0-b699-821ba050a2d9"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and carries it upward to the area above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and moves downward to fit the nut securely onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg without any visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward from its initial position above the assembly toward the white hexagonal nut placed on the black table in front of the wooden base, remaining empty before making contact with the nut."}, {"label": "goal", "start_step": 646, "end_step": 705, "id": "005b168c-76b5-4d8f-8455-69f3d3535cd0"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip on the nut, which remains resting on the table."}, {"label": "goal", "start_step": 706, "end_step": 810, "id": "905ba4f6-1f8c-43b2-b303-182d53025dba"}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand moves vertically upward to lift the gripped white hexagonal nut until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and horizontally toward the empty purple post mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple post, then lowers the nut to fit it securely onto the post to complete the assembly."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves from above the wooden assembly base down toward the green hexagonal block on the table surface, with no contact to the block."}, {"label": "goal", "start_step": 811, "end_step": 865, "id": "60792cb6-b566-417a-a6aa-4e013630ea24"}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions to form a stable grip while the block remains resting on the table."}, {"label": "goal", "start_step": 866, "end_step": 965, "id": "d78c13d5-ac55-472c-896a-0ee2307cc3f6"}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moving it upward to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 908, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowering the block to seat it securely on the peg supported by the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: release: Right hand opens fingers to release the seated green hexagonal block, breaking all contact between the hand and the block."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: retreat: Right hand moves empty away from the assembled green block on the wooden base, traveling back toward the area above the base."}, {"label": "goal", "start_step": 966, "end_step": 1240, "id": "2998ca8c-665a-46c9-ae1b-b5f46ef981f8"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden peg assembly toward the white hexagonal nut resting on the black table surface, keeping fingers open as it approaches the target nut."}, {"label": "subtasks", "start_step": 998, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing its fingers around the nut and making small adjustments to finger and wrist position to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1072, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reorient: Right hand holds the secured white hexagonal nut, rotating it in small increments around the vertical axis to adjust its orientation while keeping the nut positioned in nearly the same spot on the table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand holds the white hexagonal nut on the black table surface near the green block, making slight finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 1241, "end_step": 1385, "id": "1c2f44e8-e01c-482a-b7af-36285972b7a4"}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and toward the purple vertical rod on the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod on the wooden stand, adjusting position slightly before lowering the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward from above the wooden peg base toward the white hexagonal nut placed on the adjacent table surface, with fingers held slightly open."}, {"label": "goal", "start_step": 1386, "end_step": 1435, "id": "722c448b-7916-414c-b0be-16efa31c228f"}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grasp, while the nut stays resting on the table surface."}, {"label": "goal", "start_step": 1436, "end_step": 1540, "id": "fa25b615-e550-434f-a37e-4143afcbda55"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table, then moves it upward and leftward to position it directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple vertical peg, moving the nut slightly downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward from the position adjacent to the wooden block tray toward the white hexagonal nut resting on the black table surface, remaining empty and out of contact with the nut during the movement."}, {"label": "goal", "start_step": 1541, "end_step": 1585, "id": "96e3713b-9183-487f-89cd-d3a98c1c58b5"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table surface to form a stable grasp, with the nut remaining fully supported by the table."}, {"label": "goal", "start_step": 1586, "end_step": 1690, "id": "4f85c530-74e9-4e59-8759-ae978a9699dc"}, {"label": "subtasks", "start_step": 1598, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, and carries the nut upward and leftward to the position directly above the purple vertical rod mounted on the wooden block tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the top end of the purple vertical rod, moving the nut downward to fit the nut onto the rod and establish a stable nested assembly relation."}, {"label": "subtasks", "start_step": 1672, "end_step": 1679, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand moves the fitted nut downward along the purple vertical rod until the nut rests stably on the white supporting block at the rod base, opening its fingers to release the nut and separate the hand from the assembled components."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: release: Right hand opens fingers to release the purple cylindrical piece placed on the wooden block base, gradually separating fingers from the top of the purple piece."}, {"label": "goal", "start_step": 1691, "end_step": 1915, "id": "d1c5635e-1499-45c9-81b3-650d47d2e5dc"}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward toward the green block resting on the table surface, approaching the block with fingers held in a partially open position."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the green block on the table, closing fingers around the block and adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_release: Right hand lifts the grasped green block off the table surface, moves it a short distance upward and rightward, opens fingers to release the block, letting it fall onto the right area of the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1867, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward toward the green block that fell on the right side of the table, approaching the block with fingers partially open."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the green block on the right table surface, adjusting finger positions and gradually closing fingers around the block to attempt a stable grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach_grasp: Right hand moves toward the small green block on the right table surface, closes fingers to adjust and establish a stable grasp on the block, which stays on the table."}, {"label": "goal", "start_step": 1916, "end_step": 2020, "id": "4ae4b912-0ffd-4d29-addd-66f7b0ac98ee"}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, moving it upward and leftward to position it directly above the target bottle on the wooden block holder."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand slightly adjusts the position of the green block to align its central hole with the purple post on top of the target bottle."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand moves the aligned green block downward along the purple post, until the block rests stably on the top of the target bottle and is supported by the bottle."}, {"label": "home", "start_step": 2053, "end_step": 2080, "id": "yqlUYxqMdzSZVAuizJtpl"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut in front of the wooden pegboard with an open hand, approaching the target without making contact."}, {"label": "subtasks", "start_step": 90, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, fingers close and make fine adjustments to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal nut to align with the purple peg on the wooden assembly, lowering it to fit securely onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal nut fitted on the purple peg, separating from the nut surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward from the pegboard area to approach the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table and adjusts finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: press_release: Right hand presses down on the top of the hexagonal block on the wooden pegboard, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers closing and making small adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and carries it upward to the area above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and moves downward to fit the nut securely onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg without any visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward from its initial position above the assembly toward the white hexagonal nut placed on the black table in front of the wooden base, remaining empty before making contact with the nut."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip on the nut, which remains resting on the table."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand moves vertically upward to lift the gripped white hexagonal nut until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and horizontally toward the empty purple post mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple post, then lowers the nut to fit it securely onto the post to complete the assembly."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves from above the wooden assembly base down toward the green hexagonal block on the table surface, with no contact to the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions to form a stable grip while the block remains resting on the table."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moving it upward to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 908, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowering the block to seat it securely on the peg supported by the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: release: Right hand opens fingers to release the seated green hexagonal block, breaking all contact between the hand and the block."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: retreat: Right hand moves empty away from the assembled green block on the wooden base, traveling back toward the area above the base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden peg assembly toward the white hexagonal nut resting on the black table surface, keeping fingers open as it approaches the target nut."}, {"label": "subtasks", "start_step": 998, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing its fingers around the nut and making small adjustments to finger and wrist position to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1072, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reorient: Right hand holds the secured white hexagonal nut, rotating it in small increments around the vertical axis to adjust its orientation while keeping the nut positioned in nearly the same spot on the table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand holds the white hexagonal nut on the black table surface near the green block, making slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and toward the purple vertical rod on the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod on the wooden stand, adjusting position slightly before lowering the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward from above the wooden peg base toward the white hexagonal nut placed on the adjacent table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grasp, while the nut stays resting on the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table, then moves it upward and leftward to position it directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple vertical peg, moving the nut slightly downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward from the position adjacent to the wooden block tray toward the white hexagonal nut resting on the black table surface, remaining empty and out of contact with the nut during the movement."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table surface to form a stable grasp, with the nut remaining fully supported by the table."}, {"label": "subtasks", "start_step": 1598, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, and carries the nut upward and leftward to the position directly above the purple vertical rod mounted on the wooden block tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the top end of the purple vertical rod, moving the nut downward to fit the nut onto the rod and establish a stable nested assembly relation."}, {"label": "subtasks", "start_step": 1672, "end_step": 1679, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand moves the fitted nut downward along the purple vertical rod until the nut rests stably on the white supporting block at the rod base, opening its fingers to release the nut and separate the hand from the assembled components."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: release: Right hand opens fingers to release the purple cylindrical piece placed on the wooden block base, gradually separating fingers from the top of the purple piece."}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward toward the green block resting on the table surface, approaching the block with fingers held in a partially open position."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the green block on the table, closing fingers around the block and adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_release: Right hand lifts the grasped green block off the table surface, moves it a short distance upward and rightward, opens fingers to release the block, letting it fall onto the right area of the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1867, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward toward the green block that fell on the right side of the table, approaching the block with fingers partially open."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the green block on the right table surface, adjusting finger positions and gradually closing fingers around the block to attempt a stable grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach_grasp: Right hand moves toward the small green block on the right table surface, closes fingers to adjust and establish a stable grasp on the block, which stays on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, moving it upward and leftward to position it directly above the target bottle on the wooden block holder."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand slightly adjusts the position of the green block to align its central hole with the purple post on top of the target bottle."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand moves the aligned green block downward along the purple post, until the block rests stably on the top of the target bottle and is supported by the bottle."}], "episode_index": 30}
+{"source_uid": "f3231a7468417b47", "num_frames": 1872, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture at the left side of the table, with no object contacted. | Right hand: other:adjust_hand_posture: Right hand adjusts its finger and wrist posture at the right side of the table, with no object contacted."}, {"label": "goal", "start_step": 0, "end_step": 105, "id": "320a2b48-28b7-44d9-bbfc-c2152484d3cb"}, {"label": "valid", "start_step": 0, "end_step": 1843, "id": "KtWg4NL-5DrkLjQ1j6xyc"}, {"label": "subtasks", "start_step": 22, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves leftward from the right side of the table toward the central wooden pegboard with stacked hollow blocks."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: other:knock_blocks_off_pegs: Right hand moves downward and knocks the hollow blocks off the purple pegs on the central wooden board."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand moves down toward the green hollow block on the table surface and grasps it with finger adjustments for a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 106, "end_step": 220, "id": "f7d130b5-7b9c-41e2-9480-b74320a99f44"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward and rightward above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the green hexagonal block on the purple peg, fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 221, "end_step": 275, "id": "64c44da2-f005-41f3-87be-c09673eedf5a"}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 276, "end_step": 385, "id": "2aec9f57-dba4-4b22-b16e-0501dc97d537"}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block from the grip."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases the block quickly."}, {"label": "goal", "start_step": 386, "end_step": 455, "id": "417d487e-bb6f-4ea2-8fd0-6554ffb9279a"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting for stable grip."}, {"label": "goal", "start_step": 456, "end_step": 565, "id": "7ab64a0d-c1fa-4662-a481-4c7b1e5608fb"}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it toward the wooden peg board."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden board, adjusting position to align and lower the piece onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand finalizes the mating of the white hex block on the upper peg of the pegboard and releases the block."}, {"label": "goal", "start_step": 566, "end_step": 620, "id": "f05ed546-efd2-4291-afb3-153fcc58895f"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the upper peg area toward the white hexagonal block on the table, keeping empty."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "goal", "start_step": 621, "end_step": 805, "id": "4c932bf4-b8f5-4e38-bbec-bb2db1bc54a7"}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the position above the front-right purple peg."}, {"label": "subtasks", "start_step": 660, "end_step": 787, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the front-right purple peg by aligning the block's hole with the peg and lowering it along the peg."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the front-right purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the upper right area near the peg set toward the green hexagonal block on the table."}, {"label": "goal", "start_step": 806, "end_step": 855, "id": "dcbce9b2-79ff-4ab4-b750-65151744697f"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 856, "end_step": 960, "id": "002ce310-bf6d-4c4d-9f36-66de04df9f20"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward to above the purple peg."}, {"label": "subtasks", "start_step": 885, "end_step": 951, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the green hexagonal block on the purple peg and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white cylindrical peg on the wooden peg base, with fingers opening to separate from the peg."}, {"label": "goal", "start_step": 961, "end_step": 1050, "id": "ba5ed755-6f96-4823-a1b4-1d176b6d4968"}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, with no object in hand."}, {"label": "subtasks", "start_step": 998, "end_step": 1071, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1051, "end_step": 1170, "id": "3eb70794-a964-43a1-85ec-1234b6296da6"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1169, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod by aligning the hole and lowering the piece down the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards and rightwards from the right side of the wooden base to approach the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1171, "end_step": 1220, "id": "395a8340-01e6-4fae-8004-a49f0b6ec287"}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table surface, establishing a stable grip."}, {"label": "goal", "start_step": 1221, "end_step": 1445, "id": "fc939d33-6a8a-4d4e-a8c1-0f4a9bf4452e"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and carries it upwards and leftwards towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod, completing the nesting assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod, staying slightly beside the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, without touching the block."}, {"label": "goal", "start_step": 1446, "end_step": 1500, "id": "4335f5cf-3c6f-4300-a0df-e0ec392ef978"}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1501, "end_step": 1610, "id": "b6477a35-575d-498a-be29-e4a1f6a38f9f"}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white post with a purple top onto the wooden base and releases its grip."}, {"label": "goal", "start_step": 1611, "end_step": 1660, "id": "93153571-7c98-4cc0-8c73-1b3a61d6941c"}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches toward the green block on the table surface and grasps it with closing fingers."}, {"label": "goal", "start_step": 1661, "end_step": 1810, "id": "cce139d3-ad52-42a7-aaa5-e62f986999f0"}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the front-right white post on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1814, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block onto the front-right white post by aligning its hole with the post and lowering it down."}, {"label": "home", "start_step": 1844, "end_step": 1871, "id": "QqOYd3rIg0ESRwJiFEkEt"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture at the left side of the table, with no object contacted. | Right hand: other:adjust_hand_posture: Right hand adjusts its finger and wrist posture at the right side of the table, with no object contacted."}, {"label": "subtasks", "start_step": 22, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves leftward from the right side of the table toward the central wooden pegboard with stacked hollow blocks."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: other:knock_blocks_off_pegs: Right hand moves downward and knocks the hollow blocks off the purple pegs on the central wooden board."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand moves down toward the green hollow block on the table surface and grasps it with finger adjustments for a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward and rightward above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the green hexagonal block on the purple peg, fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block from the grip."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases the block quickly."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it toward the wooden peg board."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden board, adjusting position to align and lower the piece onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand finalizes the mating of the white hex block on the upper peg of the pegboard and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the upper peg area toward the white hexagonal block on the table, keeping empty."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the position above the front-right purple peg."}, {"label": "subtasks", "start_step": 660, "end_step": 787, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the front-right purple peg by aligning the block's hole with the peg and lowering it along the peg."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the front-right purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the upper right area near the peg set toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward to above the purple peg."}, {"label": "subtasks", "start_step": 885, "end_step": 951, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the green hexagonal block on the purple peg and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white cylindrical peg on the wooden peg base, with fingers opening to separate from the peg."}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, with no object in hand."}, {"label": "subtasks", "start_step": 998, "end_step": 1071, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1169, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod by aligning the hole and lowering the piece down the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards and rightwards from the right side of the wooden base to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table surface, establishing a stable grip."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and carries it upwards and leftwards towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod, completing the nesting assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod, staying slightly beside the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, without touching the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white post with a purple top onto the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches toward the green block on the table surface and grasps it with closing fingers."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the front-right white post on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1814, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block onto the front-right white post by aligning its hole with the post and lowering it down."}], "episode_index": 31}
+{"source_uid": "2e6e304096b5ca2b", "num_frames": 1979, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: idle: Right robotic hand remains empty at the right side of the table without moving."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "74d751cb-049c-4d35-b866-e66dda94ef21"}, {"label": "valid", "start_step": 0, "end_step": 1950, "id": "5e6Jq8XB-ioZ14jcNgCak"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right robotic hand moves towards the white cylindrical block on the left side of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right robotic hand closes fingers and adjusts to grasp the white cylindrical block on the left side of the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 126, "end_step": 290, "id": "cde3a59f-5894-4d46-88fc-7b63d6d7a98b"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg, pressing it down to fully fit onto the base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the mated green block and reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 291, "end_step": 310, "id": "8ced804f-03bd-49b2-b41b-bb100bb0f461"}, {"label": "goal", "start_step": 311, "end_step": 410, "id": "f524203b-690f-4aab-9a9c-4ff2ee7bcc02"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and moves it above the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 345, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block from its grip on the purple peg of the wooden base."}, {"label": "goal", "start_step": 411, "end_step": 470, "id": "150e155c-e107-4f44-9e8a-49f4058fff9e"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "goal", "start_step": 471, "end_step": 590, "id": "c735c8e6-4119-42c4-831e-c30dd87a7e2a"}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "goal", "start_step": 591, "end_step": 630, "id": "2e4c5de9-7fd0-4990-a7d3-47e8fb64e6c0"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 631, "end_step": 745, "id": "899f31b2-5b1d-4c7d-8ebd-b2cefd413d81"}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward towards the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand slightly adjusts the white hexagonal block on the purple peg to stabilize the grasp."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden base, with fingers gradually opening."}, {"label": "goal", "start_step": 746, "end_step": 815, "id": "1f7f833d-77b6-4355-931a-287cd025cb96"}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00023", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 816, "end_step": 1000, "id": "06362f38-3955-4059-b180-90457a020b22"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and presses it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers, separating from the block."}, {"label": "subtasks", "start_step": 982, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the assembled green block on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the purple cylindrical part into the corresponding hole on the wooden base."}, {"label": "goal", "start_step": 1001, "end_step": 1065, "id": "df212f3f-46e5-4aca-a12c-f37f83b6dcdb"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the lower part of the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00032", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table by closing fingers around it."}, {"label": "goal", "start_step": 1066, "end_step": 1155, "id": "26dbcc42-77b9-46d3-8e93-8fbc3aba0a12"}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00033", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00034", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: place_mate: Right hand places the white hexagonal block onto the purple rod and fits it down along the rod to complete assembly."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00035", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod placed on the wooden base."}, {"label": "goal", "start_step": 1156, "end_step": 1495, "id": "c084ebd8-2259-4704-883b-2c9c40e0bdd2"}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00037", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the white hexagonal block on the table to move it slightly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves backward slightly away from the white hexagonal block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward toward the white hexagonal block again."}, {"label": "subtasks", "start_step": 1440, "end_step": 1507, "id": "reasoning-language-00040", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to establish a grasp."}, {"label": "goal", "start_step": 1496, "end_step": 1590, "id": "bd59bb49-dd8c-49f6-b07e-e430602e8f3a"}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00042", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1591, "end_step": 1640, "id": "38b5c38d-447f-4d19-8812-23354ec4eaa2"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing."}, {"label": "goal", "start_step": 1641, "end_step": 1755, "id": "7197aabd-d52f-4151-b4af-b997acd52cb6"}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats away from the wooden tray."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block placed on the black table surface."}, {"label": "goal", "start_step": 1756, "end_step": 1805, "id": "5fce9a20-6004-41d1-b372-9e56436fee92"}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 1806, "end_step": 1915, "id": "26adf3ee-12ce-4a81-96d4-7bce73087347"}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the rightmost white pillar on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white pillar and inserts it onto the pillar to complete assembly."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block which is already fitted on the white pillar."}, {"label": "home", "start_step": 1951, "end_step": 1978, "id": "WxXR0JWj2n30iYYwVpZiZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: idle: Right robotic hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right robotic hand moves towards the white cylindrical block on the left side of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right robotic hand closes fingers and adjusts to grasp the white cylindrical block on the left side of the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg, pressing it down to fully fit onto the base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the mated green block and reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and moves it above the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 345, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block from its grip on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward towards the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand slightly adjusts the white hexagonal block on the purple peg to stabilize the grasp."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden base, with fingers gradually opening."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00023", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and presses it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers, separating from the block."}, {"label": "subtasks", "start_step": 982, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the assembled green block on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the purple cylindrical part into the corresponding hole on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the lower part of the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00032", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table by closing fingers around it."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00033", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00034", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: place_mate: Right hand places the white hexagonal block onto the purple rod and fits it down along the rod to complete assembly."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00035", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod placed on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00037", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the white hexagonal block on the table to move it slightly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves backward slightly away from the white hexagonal block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward toward the white hexagonal block again."}, {"label": "subtasks", "start_step": 1440, "end_step": 1507, "id": "reasoning-language-00040", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to establish a grasp."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00042", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats away from the wooden tray."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block placed on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the rightmost white pillar on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white pillar and inserts it onto the pillar to complete assembly."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block which is already fitted on the white pillar."}], "episode_index": 32}
+{"source_uid": "1c3634327d69769e", "num_frames": 1686, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut on the table in front of the wooden rack, extending fingers to approach the target."}, {"label": "goal", "start_step": 0, "end_step": 100, "id": "6e112c67-692a-4355-9f85-2c1f0889a853"}, {"label": "valid", "start_step": 0, "end_step": 1654, "id": "18Cqgam3c2IKpXVvO2dBi"}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table, making small wrist and finger adjustments to form a grip on the nut."}, {"label": "goal", "start_step": 101, "end_step": 210, "id": "cfd39ada-1dcf-460d-b23a-570f34cfd4d5"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward toward the purple vertical posts on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the target purple post and slides the block down the post to achieve a fitted assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the block rack toward the white hexagonal block placed on the table in front of the block base, with fingers held slightly open."}, {"label": "goal", "start_step": 211, "end_step": 270, "id": "0d7366a2-68ed-447f-82aa-879936a667f9"}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block stays on the table surface."}, {"label": "goal", "start_step": 271, "end_step": 375, "id": "b810b2eb-f208-437b-92eb-1775b6b3fcbf"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it above the purple peg on the block rack."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the grasped white hexagonal block with the purple peg on the rack, lowers the block to nest it onto the peg, making small positional adjustments to maintain alignment during the process."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the area near the assembly board toward the white hexagonal nut on the table, approaching the target without making contact."}, {"label": "goal", "start_step": 376, "end_step": 440, "id": "88061583-2d16-45ed-b340-6c5e5575d705"}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp."}, {"label": "goal", "start_step": 441, "end_step": 575, "id": "3503bb33-4a9a-4df9-90b5-8f409007b2a2"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple peg on the assembly board."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the assembly board and moves it downward to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg of the assembly board without any observable movement."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the black table surface adjacent to the wooden assembly base."}, {"label": "goal", "start_step": 576, "end_step": 630, "id": "066c3995-378d-4cf8-8aa7-3cfd3ce016fb"}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip on the object."}, {"label": "goal", "start_step": 631, "end_step": 740, "id": "fb5bd691-7f00-4655-9951-44e346e4e1ca"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward toward the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 668, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple peg, then lowers the nut to seat it onto the peg."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal nut now seated on the purple peg, with fingers beginning to separate from the nut."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand holds the white cylindrical block, moves downward to position the block on the wooden base, opens fingers to let go of the block."}, {"label": "goal", "start_step": 741, "end_step": 805, "id": "1bde8b95-1e44-4fce-836b-f8f5f3500026"}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach_grasp: Right hand moves from the wooden base toward the green hexagonal block on the table, closes fingers and adjusts grip to securely grasp the green block."}, {"label": "goal", "start_step": 806, "end_step": 890, "id": "3179dd2a-4b73-49b5-8cf2-4dfcd23913d9"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand holds the grasped green hexagonal block, lifts it off the table surface, moves it upward and toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand holds the green hexagonal block, aligns it with the purple rod, slides the block down the rod to fit it onto the rod in assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the fitted green hexagonal block on the purple rod."}, {"label": "goal", "start_step": 891, "end_step": 945, "id": "a0e1712d-7073-4439-a645-c19ea7147134"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut on the black table surface near the green block."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, making small finger adjustments to secure the grip."}, {"label": "goal", "start_step": 946, "end_step": 1050, "id": "17d54dd8-cdc8-4d54-b340-ec85a6636dbd"}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward toward the wooden assembly base."}, {"label": "subtasks", "start_step": 975, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod on the wooden assembly base, adjusting position to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut onto the purple rod of the assembly base."}, {"label": "goal", "start_step": 1051, "end_step": 1220, "id": "7d7d3c24-78d4-4094-ab48-6691630c2945"}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from above the wooden block set toward the nearby white hexagonal nut on the table, with fingers open, approaching the nut without contact."}, {"label": "subtasks", "start_step": 1095, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the white hexagonal nut near the wooden block, adjusts finger positions to attempt grasping, and the nut slides left away from the hand without forming a stable grasp."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: idle: Right hand remains empty above the table near the original nut position with no observable movement."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves left toward the slid white hexagonal nut with fingers held open."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the slid white hexagonal nut, fingers close gradually to establish a grasp on the nut."}, {"label": "goal", "start_step": 1221, "end_step": 1305, "id": "e9818ac5-abdb-4849-9da2-613923c8a7af"}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it toward the empty slot on the wooden block assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the empty slot on the wooden block assembly and inserts the nut into the slot."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the inserted white hexagonal nut in the wooden block slot without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut in the wooden block slot, separating from the nut."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface, keeping fingers open before contact."}, {"label": "goal", "start_step": 1306, "end_step": 1350, "id": "d50dbeb2-5af5-421e-ba06-da500400325f"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 1351, "end_step": 1450, "id": "d4f19843-b458-418a-994e-2bd4d7505d97"}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward and toward the purple rod mounted on the wooden block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod, lowering the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, separating from the nut that remains fitted on the purple rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the area adjacent to the white cylindrical block set toward the green cubic block on the dark table surface, with fingers open as it approaches the target."}, {"label": "goal", "start_step": 1451, "end_step": 1490, "id": "b3f28f82-d7bc-4213-9c9e-77ce71a91609"}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green cubic block to establish a stable grasp, while the block remains resting on the table surface."}, {"label": "goal", "start_step": 1491, "end_step": 1625, "id": "28b56d8f-e859-473e-82d9-c570c75a6b28"}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green cubic block completely off the dark table surface, then moves it upward and toward the wooden base to position it directly above the purple-topped white cylindrical block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the top of the purple-topped white cylindrical block, then lowers the block to fit securely onto the cylinder, establishing an assembled connection."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens its fingers to release the green cubic block, which remains fitted onto the purple-topped white cylindrical block."}, {"label": "home", "start_step": 1655, "end_step": 1685, "id": "RMZOhs8j4qOhralMftKbn"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut on the table in front of the wooden rack, extending fingers to approach the target."}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table, making small wrist and finger adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward toward the purple vertical posts on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the target purple post and slides the block down the post to achieve a fitted assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the block rack toward the white hexagonal block placed on the table in front of the block base, with fingers held slightly open."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block stays on the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it above the purple peg on the block rack."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the grasped white hexagonal block with the purple peg on the rack, lowers the block to nest it onto the peg, making small positional adjustments to maintain alignment during the process."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the area near the assembly board toward the white hexagonal nut on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple peg on the assembly board."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the assembly board and moves it downward to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg of the assembly board without any observable movement."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the black table surface adjacent to the wooden assembly base."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip on the object."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward toward the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 668, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple peg, then lowers the nut to seat it onto the peg."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal nut now seated on the purple peg, with fingers beginning to separate from the nut."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand holds the white cylindrical block, moves downward to position the block on the wooden base, opens fingers to let go of the block."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach_grasp: Right hand moves from the wooden base toward the green hexagonal block on the table, closes fingers and adjusts grip to securely grasp the green block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand holds the grasped green hexagonal block, lifts it off the table surface, moves it upward and toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand holds the green hexagonal block, aligns it with the purple rod, slides the block down the rod to fit it onto the rod in assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the fitted green hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut on the black table surface near the green block."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, making small finger adjustments to secure the grip."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward toward the wooden assembly base."}, {"label": "subtasks", "start_step": 975, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod on the wooden assembly base, adjusting position to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut onto the purple rod of the assembly base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from above the wooden block set toward the nearby white hexagonal nut on the table, with fingers open, approaching the nut without contact."}, {"label": "subtasks", "start_step": 1095, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the white hexagonal nut near the wooden block, adjusts finger positions to attempt grasping, and the nut slides left away from the hand without forming a stable grasp."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: idle: Right hand remains empty above the table near the original nut position with no observable movement."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves left toward the slid white hexagonal nut with fingers held open."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the slid white hexagonal nut, fingers close gradually to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it toward the empty slot on the wooden block assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the empty slot on the wooden block assembly and inserts the nut into the slot."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the inserted white hexagonal nut in the wooden block slot without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut in the wooden block slot, separating from the nut."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface, keeping fingers open before contact."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward and toward the purple rod mounted on the wooden block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod, lowering the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, separating from the nut that remains fitted on the purple rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the area adjacent to the white cylindrical block set toward the green cubic block on the dark table surface, with fingers open as it approaches the target."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green cubic block to establish a stable grasp, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green cubic block completely off the dark table surface, then moves it upward and toward the wooden base to position it directly above the purple-topped white cylindrical block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the top of the purple-topped white cylindrical block, then lowers the block to fit securely onto the cylinder, establishing an assembled connection."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens its fingers to release the green cubic block, which remains fitted onto the purple-topped white cylindrical block."}], "episode_index": 33}
+{"source_uid": "44c9d97071746194", "num_frames": 1590, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_pose: Left hand rotates its wrist slightly and opens its fingers at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "c3a12399-ecfd-403e-9d12-fdd1fefb0855"}, {"label": "valid", "start_step": 0, "end_step": 1555, "id": "xWYmM5bASGmwtYLh7BCC_"}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 116, "end_step": 250, "id": "8775a7de-b372-4691-8a3c-bad63ed3215d"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the left purple peg and inserts it onto the peg to establish initial assembly."}, {"label": "subtasks", "start_step": 172, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the left purple peg to push it further down the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 251, "end_step": 295, "id": "a94734bd-d934-463e-a2f5-f7826cf0d3ca"}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table above the left green block."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 296, "end_step": 440, "id": "8c3e789e-b14d-4525-8992-e4df2b23e904"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical part on the upper wooden base, then moves downward to approach the white hexagonal part on the table surface."}, {"label": "goal", "start_step": 441, "end_step": 515, "id": "2b88a539-3a5e-4bf8-9771-397858f96897"}, {"label": "subtasks", "start_step": 465, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 516, "end_step": 590, "id": "cc896e5d-ed8c-44a7-9d2d-1e0ca251ee73"}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block with fingers opening and moves slightly upward away from the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg, fingers open to separate from the block."}, {"label": "goal", "start_step": 591, "end_step": 685, "id": "cfa73780-40d1-41f8-b0a1-4c2e5fab64e6"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the peg board."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers adjusting to stabilize the grip while the ring stays on the table surface."}, {"label": "goal", "start_step": 686, "end_step": 790, "id": "ebb6903d-5cc4-442c-8baa-80d630a34bc7"}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it upward and rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and lowers it to fit the ring onto the peg, completing the nesting assembly."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring fitted on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 772, "end_step": 779, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly downward away from the white hexagonal ring on the purple peg."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the white block on the middle purple peg and releases its grip."}, {"label": "goal", "start_step": 791, "end_step": 850, "id": "ca40559b-2200-497b-9eca-96deeab3d897"}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 851, "end_step": 970, "id": "ee8aea48-82ca-4fe8-ba67-44f20bfcd2e1"}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it above the rightmost purple peg."}, {"label": "subtasks", "start_step": 878, "end_step": 944, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the rightmost purple peg and releases the block."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower part of the table."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal nut on the black table and grasps it by closing its fingers around the object."}, {"label": "goal", "start_step": 971, "end_step": 990, "id": "49e8da91-70a8-4142-a975-af002574bb32"}, {"label": "goal", "start_step": 991, "end_step": 1085, "id": "8b4ea2ae-7ec8-44da-ba25-36bcf97e924f"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple peg by opening its fingers and moving slightly upward."}, {"label": "goal", "start_step": 1086, "end_step": 1135, "id": "cbda2e8d-8cda-4bfe-a04b-d96f7c1dfa4b"}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the upper white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the table with fingers closing."}, {"label": "goal", "start_step": 1136, "end_step": 1285, "id": "dcd621fb-15e3-45c8-ae2f-57e6abe020b7"}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the upper white hexagonal ring from the table to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal ring with the purple rod and releases the ring."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the lower white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1274, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lower white hexagonal ring on the table with fingers closing."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the right table surface without moving."}, {"label": "goal", "start_step": 1286, "end_step": 1290, "id": "4e09e3e6-ab32-409d-bc75-72b113d47b67"}, {"label": "goal", "start_step": 1291, "end_step": 1360, "id": "4e0c4909-7e4c-435a-a0c6-94f22225f9b5"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and moves it leftward to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white ring onto the purple rod by moving downward to complete the assembly."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the small purple component onto the top of the front-right white bottle on the wooden tray and releases the component."}, {"label": "goal", "start_step": 1361, "end_step": 1420, "id": "508715de-25a5-4e99-a982-a354fcc86d27"}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface with fingers closing around it."}, {"label": "goal", "start_step": 1421, "end_step": 1530, "id": "33920dce-c9e8-4f07-a944-cef46323fd3d"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the table surface and transports it toward the front-right white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green square block onto the top of the front-right white bottle on the wooden tray by aligning its hole with the bottle's top protrusion and pressing down."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block on the top of the front-right white bottle."}, {"label": "home", "start_step": 1556, "end_step": 1589, "id": "CwJFRftbAMEFwanAoZYvS"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_pose: Left hand rotates its wrist slightly and opens its fingers at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the left purple peg and inserts it onto the peg to establish initial assembly."}, {"label": "subtasks", "start_step": 172, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the left purple peg to push it further down the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table above the left green block."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical part on the upper wooden base, then moves downward to approach the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block with fingers opening and moves slightly upward away from the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the peg board."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers adjusting to stabilize the grip while the ring stays on the table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it upward and rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and lowers it to fit the ring onto the peg, completing the nesting assembly."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring fitted on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 772, "end_step": 779, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly downward away from the white hexagonal ring on the purple peg."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the white block on the middle purple peg and releases its grip."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it above the rightmost purple peg."}, {"label": "subtasks", "start_step": 878, "end_step": 944, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the rightmost purple peg and releases the block."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower part of the table."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal nut on the black table and grasps it by closing its fingers around the object."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple peg by opening its fingers and moving slightly upward."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the upper white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the table with fingers closing."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the upper white hexagonal ring from the table to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal ring with the purple rod and releases the ring."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the lower white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1274, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lower white hexagonal ring on the table with fingers closing."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the right table surface without moving."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and moves it leftward to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white ring onto the purple rod by moving downward to complete the assembly."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the small purple component onto the top of the front-right white bottle on the wooden tray and releases the component."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the table surface and transports it toward the front-right white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green square block onto the top of the front-right white bottle on the wooden tray by aligning its hole with the bottle's top protrusion and pressing down."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block on the top of the front-right white bottle."}], "episode_index": 34}
+{"source_uid": "0f9087ca991dda4e", "num_frames": 1801, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves leftward from the initial position towards the green hexagonal block in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "3c4e9bfc-86b4-4b55-8016-99feed68a83e"}, {"label": "valid", "start_step": 0, "end_step": 1768, "id": "YDDrhswJSG4KL0lNaRVTc"}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close and adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 121, "end_step": 220, "id": "5677ebc3-c680-449a-af6b-835f4179d423"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the green block above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the green block with the purple peg by aligning and inserting."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: press: Right hand presses the green block down firmly onto the purple peg."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 221, "end_step": 285, "id": "6c64c4b5-d533-4466-b91f-0df4fef9eb7c"}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}, {"label": "goal", "start_step": 286, "end_step": 415, "id": "23236d80-7e65-4a6f-8a09-5802151af52b"}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the front left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block with the front left purple rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the front left purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 416, "end_step": 485, "id": "4676546b-1e65-42c4-b9ea-b5a3e135eb72"}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black tabletop to establish grasp."}, {"label": "goal", "start_step": 486, "end_step": 580, "id": "5753b736-1ec0-487c-ad79-f1e63e59b3a0"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden test tube rack."}, {"label": "subtasks", "start_step": 518, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden test tube rack."}, {"label": "goal", "start_step": 581, "end_step": 645, "id": "eb3666f8-83c2-4877-b1c4-16908cc0f092"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 646, "end_step": 775, "id": "562576ac-4db6-4c5b-8978-903397dfbdf7"}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 776, "end_step": 825, "id": "c0602f4e-93b2-411b-ae70-ba796d30ae2d"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 826, "end_step": 935, "id": "56341c26-93e7-432c-add5-d15827a13ff6"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the purple peg on the wooden tray."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 936, "end_step": 985, "id": "3df37f92-471b-4169-9d79-789cde1cb64a"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 986, "end_step": 1075, "id": "67a3a973-1f00-4aa8-bacd-acdd8d0acb9e"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white ring placed on the wooden base."}, {"label": "goal", "start_step": 1076, "end_step": 1130, "id": "91f1f134-3f3a-4e36-b412-da6f199b9735"}, {"label": "subtasks", "start_step": 1088, "end_step": 1131, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward towards the white ring on the black tabletop."}, {"label": "goal", "start_step": 1131, "end_step": 1205, "id": "4b825316-af5a-4446-a27c-1ff57805e3b8"}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white ring on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white ring and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white cap held on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1206, "end_step": 1270, "id": "0539b579-f5e1-4b27-a0a5-02a96d534889"}, {"label": "subtasks", "start_step": 1222, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal cap placed on the black table surface."}, {"label": "goal", "start_step": 1271, "end_step": 1470, "id": "dbb854ff-d050-40cd-9f46-31d8f2c519d2"}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal cap on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cap from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal cap onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white hexagonal cap fitted on the purple rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: retreat: Right hand moves upward away from the purple rod after releasing the cap."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white cylinder on the wooden base and lifts its top part slightly upward."}, {"label": "goal", "start_step": 1471, "end_step": 1635, "id": "20b1652b-9191-4fef-9179-ee58ab807147"}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves empty toward the green cube placed on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand contacts the green cube, adjusts fingers to form a stable grip on the cube."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: push: Right hand pushes the green cube on the table slightly toward the left direction."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the green cubic block off the black table surface."}, {"label": "goal", "start_step": 1636, "end_step": 1735, "id": "d5094601-2fd8-4182-8cb7-3f89c9c8bd17"}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand moves the green cubic block towards the wooden base with white cylindrical pillars."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white pillar on the wooden base to fit it onto the pillar."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand lowers the green cubic block onto the rightmost white pillar until the block is stably supported by the pillar."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand opens its fingers to release the green cubic block, separating from the block completely."}, {"label": "home", "start_step": 1769, "end_step": 1800, "id": "p7yBfyDj0T2sPMLmGygs2"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves leftward from the initial position towards the green hexagonal block in front of the wooden rack."}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close and adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the green block above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the green block with the purple peg by aligning and inserting."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: press: Right hand presses the green block down firmly onto the purple peg."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the front left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block with the front left purple rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the front left purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black tabletop to establish grasp."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden test tube rack."}, {"label": "subtasks", "start_step": 518, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden test tube rack."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the purple peg on the wooden tray."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white ring placed on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1131, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white ring on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white ring and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white cap held on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal cap placed on the black table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal cap on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cap from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal cap onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white hexagonal cap fitted on the purple rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: retreat: Right hand moves upward away from the purple rod after releasing the cap."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white cylinder on the wooden base and lifts its top part slightly upward."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves empty toward the green cube placed on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand contacts the green cube, adjusts fingers to form a stable grip on the cube."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: push: Right hand pushes the green cube on the table slightly toward the left direction."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the green cubic block off the black table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand moves the green cubic block towards the wooden base with white cylindrical pillars."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white pillar on the wooden base to fit it onto the pillar."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand lowers the green cubic block onto the rightmost white pillar until the block is stably supported by the pillar."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand opens its fingers to release the green cubic block, separating from the block completely."}], "episode_index": 35}
+{"source_uid": "206554c44fceaa5f", "num_frames": 1826, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace with no contact to operational objects, staying stationary."}, {"label": "goal", "start_step": 0, "end_step": 105, "id": "6cd483c5-9a7b-4988-aec5-89221457c58c"}, {"label": "valid", "start_step": 0, "end_step": 1797, "id": "CuthHuNDNXI_EwYIgljKr"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut on the table surface to the left of the wooden assembly holder, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table, making small adjustments to finger positions and wrist angle to establish grip on the nut, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand holds the green hexagonal block resting on the black table surface, lifts it upward completely off the table, and moves it to the position directly above the purple peg on the wooden assembly base."}, {"label": "goal", "start_step": 106, "end_step": 210, "id": "79121752-5fef-49e0-bdad-a8d6db3661eb"}, {"label": "subtasks", "start_step": 135, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to nest it onto the peg until the block is securely fitted on the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward and forward from the wooden base area toward the white hexagonal block resting on the table, holds fingers open as it approaches the target block."}, {"label": "goal", "start_step": 211, "end_step": 260, "id": "ae98e22a-7b4d-41bf-aa25-4584e8a63949"}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, makes small adjustments to finger positions to form a stable grip on the block, which remains supported by the table surface."}, {"label": "goal", "start_step": 261, "end_step": 355, "id": "3f66831d-2e3b-4179-9bb8-ae0545e524ee"}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves upward and back toward the wooden base, carries the block through the air to position it above the target purple post."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the target purple post, lowers the block to fit it securely onto the post, opens fingers to release the assembled block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand holds the white cylindrical piece, aligns it with the purple post on the wooden base and fits the piece onto the post."}, {"label": "goal", "start_step": 356, "end_step": 425, "id": "ab74a0a1-9896-4e27-b84a-879b8e99ef34"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish a stable grip on the nut."}, {"label": "goal", "start_step": 426, "end_step": 645, "id": "fc1991b0-3d48-4cb5-aee7-280822b69a9f"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, pulling slightly away from the nut surface."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: press: Right hand grips the white hexagonal nut on the purple rod and presses it downward along the rod to seat it firmly in place."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block held on the upper purple peg, allowing the block to fall onto the table surface near the wooden base."}, {"label": "goal", "start_step": 646, "end_step": 710, "id": "c90aebf9-fbb3-403a-a3d7-389e3d247919"}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward from the upper peg area toward the fallen white hexagonal block on the table near the wooden base, with fingers held open as it approaches the block."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block resting on the table to establish a stable grasp on the block."}, {"label": "goal", "start_step": 711, "end_step": 840, "id": "d8417a29-2cd0-4683-a17d-dd635cee8f92"}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position the block directly above the right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the right purple peg, then lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple peg, fully separating the hand from the secured block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward with a partially open posture, traveling from the area above the wooden assembly base toward the green hexagonal block resting on the black table surface, without yet contacting the block."}, {"label": "goal", "start_step": 841, "end_step": 890, "id": "62cdcba7-faf9-40be-9dc5-4b7924eb64d9"}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers close around the sides of the block to form a stable grasp, while the block remains supported by the table surface."}, {"label": "goal", "start_step": 891, "end_step": 1055, "id": "39d9db78-a0ee-48c4-8c5f-894aaaa3cc98"}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface, moves upward and toward the purple vertical peg on the wooden assembly base, positioning the block's central hole directly over the peg."}, {"label": "subtasks", "start_step": 938, "end_step": 1027, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden base, lowers the block onto the peg while making small positional adjustments to properly seat the block on the assembly."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the seated green hexagonal block, then retracts the fingers slightly away from the assembled block."}, {"label": "goal", "start_step": 1056, "end_step": 1120, "id": "f09e34fc-cbfc-4169-bf55-fd477acc5469"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal nut positioned in front of the green block on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger position to form a stable grip on the nut, which remains on the table surface."}, {"label": "goal", "start_step": 1121, "end_step": 1245, "id": "3c83c07c-d7fe-4c7a-8dd5-269faeafde7c"}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then transports it upward and toward the wooden stand to position it directly above the purple rod."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the top end of the purple rod, lowering the nut until it makes contact with the rod tip."}, {"label": "subtasks", "start_step": 1178, "end_step": 1221, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut placed on the purple rod without moving, keeping the nut stationary in its position on the rod."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal nut on the purple rod, moving the nut slightly downward to continue fitting it onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves from the area above the block set downward toward the white hexagonal nut on the table to the right of the wooden base, with fingers open."}, {"label": "goal", "start_step": 1246, "end_step": 1295, "id": "1d7652b5-4f76-4ae8-8334-fab08b16632c"}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger position to form a stable grip on the nut."}, {"label": "goal", "start_step": 1296, "end_step": 1390, "id": "cf48921e-806b-4bc3-9464-f2a65255162c"}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and leftward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the top of the purple vertical rod, adjusting position to prepare for fitting the nut onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white block placed on the wooden tray, losing contact with the block."}, {"label": "goal", "start_step": 1391, "end_step": 1490, "id": "9c491a03-51ba-46b2-b433-4f9249b8da57"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes around the white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}, {"label": "goal", "start_step": 1491, "end_step": 1605, "id": "c70b2b59-e04a-41dd-a08a-ef8093f0f317"}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand grips the white hexagonal block, lifts it off the table surface, and moves it upward toward the purple vertical rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod on the wooden rack and fits it downward onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: retreat: Right hand moves empty away from the wooden rack and the assembled block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward toward the green square block on the dark table surface, without contacting the block."}, {"label": "goal", "start_step": 1606, "end_step": 1675, "id": "580099dc-1f87-4819-ac13-deb739b8362c"}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the green square block on the table, making minor adjustments to establish a stable grip on the block."}, {"label": "goal", "start_step": 1676, "end_step": 1765, "id": "2f626e6d-434a-4f00-9b93-07bc51e55404"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the green block off the table surface and carries it upward and leftward toward the target white cylindrical post on the wooden block base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green square block with the top of the target white post, fitting the block onto the post to form an assembly."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: place: Right hand lowers the green square block down the post until it rests steadily on the top surface of the lower white cylinder, supported by the cylinder."}, {"label": "home", "start_step": 1798, "end_step": 1825, "id": "hWf78bPS2tlaCakLPDiV1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace with no contact to operational objects, staying stationary."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut on the table surface to the left of the wooden assembly holder, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table, making small adjustments to finger positions and wrist angle to establish grip on the nut, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand holds the green hexagonal block resting on the black table surface, lifts it upward completely off the table, and moves it to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 135, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to nest it onto the peg until the block is securely fitted on the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward and forward from the wooden base area toward the white hexagonal block resting on the table, holds fingers open as it approaches the target block."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, makes small adjustments to finger positions to form a stable grip on the block, which remains supported by the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves upward and back toward the wooden base, carries the block through the air to position it above the target purple post."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the target purple post, lowers the block to fit it securely onto the post, opens fingers to release the assembled block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand holds the white cylindrical piece, aligns it with the purple post on the wooden base and fits the piece onto the post."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, pulling slightly away from the nut surface."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: press: Right hand grips the white hexagonal nut on the purple rod and presses it downward along the rod to seat it firmly in place."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block held on the upper purple peg, allowing the block to fall onto the table surface near the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward from the upper peg area toward the fallen white hexagonal block on the table near the wooden base, with fingers held open as it approaches the block."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block resting on the table to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position the block directly above the right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the right purple peg, then lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple peg, fully separating the hand from the secured block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward with a partially open posture, traveling from the area above the wooden assembly base toward the green hexagonal block resting on the black table surface, without yet contacting the block."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers close around the sides of the block to form a stable grasp, while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface, moves upward and toward the purple vertical peg on the wooden assembly base, positioning the block's central hole directly over the peg."}, {"label": "subtasks", "start_step": 938, "end_step": 1027, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden base, lowers the block onto the peg while making small positional adjustments to properly seat the block on the assembly."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the seated green hexagonal block, then retracts the fingers slightly away from the assembled block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal nut positioned in front of the green block on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger position to form a stable grip on the nut, which remains on the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then transports it upward and toward the wooden stand to position it directly above the purple rod."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the top end of the purple rod, lowering the nut until it makes contact with the rod tip."}, {"label": "subtasks", "start_step": 1178, "end_step": 1221, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut placed on the purple rod without moving, keeping the nut stationary in its position on the rod."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal nut on the purple rod, moving the nut slightly downward to continue fitting it onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves from the area above the block set downward toward the white hexagonal nut on the table to the right of the wooden base, with fingers open."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger position to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and leftward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the top of the purple vertical rod, adjusting position to prepare for fitting the nut onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white block placed on the wooden tray, losing contact with the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes around the white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand grips the white hexagonal block, lifts it off the table surface, and moves it upward toward the purple vertical rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod on the wooden rack and fits it downward onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: retreat: Right hand moves empty away from the wooden rack and the assembled block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward toward the green square block on the dark table surface, without contacting the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the green square block on the table, making minor adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the green block off the table surface and carries it upward and leftward toward the target white cylindrical post on the wooden block base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green square block with the top of the target white post, fitting the block onto the post to form an assembly."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: place: Right hand lowers the green square block down the post until it rests steadily on the top surface of the lower white cylinder, supported by the cylinder."}], "episode_index": 36}
+{"source_uid": "5de1a0fe2dbedfae", "num_frames": 1630, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand rotates slightly inward and closes its fingers gently at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table surface."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "58129167-49e0-4ceb-82c9-c31c905cd743"}, {"label": "valid", "start_step": 0, "end_step": 1599, "id": "dXRFSUtcVNS8auYiXWRuQ"}, {"label": "subtasks", "start_step": 22, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal block on the table with fingers closing around the block."}, {"label": "goal", "start_step": 111, "end_step": 225, "id": "87875488-eca8-464f-9b76-1d6a494ecc8f"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward and rightward to the position above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 142, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the wooden rack and fits it down onto the peg until the block reaches the lower position of the peg."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the left white hexagonal nut on the table, with no contact to the nut yet."}, {"label": "goal", "start_step": 226, "end_step": 275, "id": "bfdf25cb-b181-4db1-a3b5-1a9af523a0f0"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal nut on the table, with fingers closing to form a stable grip around the nut."}, {"label": "goal", "start_step": 276, "end_step": 410, "id": "d7960a1c-7c0e-4fc6-9ccb-80b0ba3a6c04"}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward toward the front-left peg of the pegboard."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left peg of the pegboard by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the peg, with fingers opening to separate from the nut."}, {"label": "subtasks", "start_step": 398, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward away from the pegboard area, remaining empty."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg rack area to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 411, "end_step": 455, "id": "838da952-db7d-47df-ae34-b655a91c5d42"}, {"label": "subtasks", "start_step": 428, "end_step": 471, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts to form a stable grip."}, {"label": "goal", "start_step": 456, "end_step": 630, "id": "4e084454-0c3b-4545-a011-67783d61fed7"}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the peg rack."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the peg on the rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block along the peg until it is supported by the green block below."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the peg rack."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the black table surface."}, {"label": "goal", "start_step": 631, "end_step": 670, "id": "3196e7b9-b097-43e2-9d6d-b9f6e8444625"}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black table surface."}, {"label": "goal", "start_step": 671, "end_step": 775, "id": "b77e7b96-ef0a-4f77-920e-3854c033095c"}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal ring upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal ring upward to the position above the right purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the right purple rod and lowers it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the right purple rod without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal ring onto the front-left purple peg of the wooden base and lets go of the ring."}, {"label": "goal", "start_step": 776, "end_step": 835, "id": "427c6595-be2e-4113-8748-19485247302a"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the left green hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left green hexagonal ring on the table with fingers closing around it."}, {"label": "goal", "start_step": 836, "end_step": 935, "id": "14456f5c-5604-42a6-b426-739c991f22ff"}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and moves it toward the front-right purple peg of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring with the front-right purple peg by lowering it down the peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the green hexagonal ring on the front-right purple peg."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the dark table surface below the wooden base."}, {"label": "goal", "start_step": 936, "end_step": 985, "id": "b58b027b-96f9-453e-b13e-7a94ac6647a4"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 986, "end_step": 1085, "id": "5677cbd3-9b01-45dc-99f5-a03c13d6cc87"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base, aligning the ring's hole with the rod and lowering the ring onto it."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring that is fitted on the purple rod."}, {"label": "goal", "start_step": 1086, "end_step": 1130, "id": "7d861cbd-6460-4a2f-8970-be0dea3295e5"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1131, "end_step": 1255, "id": "724a5518-c284-4b69-801b-267fb1e08c0f"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to above the rightmost purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and lowers it onto the rod to complete mating."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple rod without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers."}, {"label": "goal", "start_step": 1256, "end_step": 1305, "id": "f84903a7-d6bd-4ebe-a977-b17f6cb31f4f"}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object with a hole on the black table."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the black table."}, {"label": "goal", "start_step": 1306, "end_step": 1385, "id": "48f7ff3a-df93-4181-b610-34092b920cb3"}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it upward to the top of the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and slides it down onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal object fitted on the purple rod."}, {"label": "goal", "start_step": 1386, "end_step": 1470, "id": "bf345e65-9f33-45ef-9b4d-442a97e3d2e7"}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward from the black table surface until the block leaves the support surface."}, {"label": "goal", "start_step": 1471, "end_step": 1560, "id": "4a85a64d-d8ec-4e65-8e2a-f27f0aeb352d"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block in the air leftward to above the front-right bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1508, "end_step": 1574, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the front-right bottle by aligning the hole and inserting it downward."}, {"label": "home", "start_step": 1600, "end_step": 1629, "id": "TOwwMoGagtO6yilGjusIb"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand rotates slightly inward and closes its fingers gently at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 22, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward and rightward to the position above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 142, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the wooden rack and fits it down onto the peg until the block reaches the lower position of the peg."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the left white hexagonal nut on the table, with no contact to the nut yet."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal nut on the table, with fingers closing to form a stable grip around the nut."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward toward the front-left peg of the pegboard."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left peg of the pegboard by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the peg, with fingers opening to separate from the nut."}, {"label": "subtasks", "start_step": 398, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward away from the pegboard area, remaining empty."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg rack area to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 471, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts to form a stable grip."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the peg rack."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the peg on the rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block along the peg until it is supported by the green block below."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the peg rack."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal ring upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal ring upward to the position above the right purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the right purple rod and lowers it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the right purple rod without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal ring onto the front-left purple peg of the wooden base and lets go of the ring."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the left green hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left green hexagonal ring on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and moves it toward the front-right purple peg of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring with the front-right purple peg by lowering it down the peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the green hexagonal ring on the front-right purple peg."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the dark table surface below the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base, aligning the ring's hole with the rod and lowering the ring onto it."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to above the rightmost purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and lowers it onto the rod to complete mating."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple rod without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object with a hole on the black table."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the black table."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it upward to the top of the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and slides it down onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal object fitted on the purple rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward from the black table surface until the block leaves the support surface."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block in the air leftward to above the front-right bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1508, "end_step": 1574, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the front-right bottle by aligning the hole and inserting it downward."}], "episode_index": 37}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ff9859c89cf8fe4ad2719dbadb427c0648735fb8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,38 @@
+{"source_uid": "09829198f1e4a758", "num_frames": 2571, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: idle: Right hand remains empty at the right side of the workspace, with no obvious translational or rotational movement of the hand or wrist."}, {"label": "goal", "start_step": 0, "end_step": 192, "id": "b49e4ce4-37f4-4633-b0b2-224764e0290f"}, {"label": "valid", "start_step": 0, "end_step": 2538, "id": "CQ2456CD80lW1koCxn9h4"}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block on the table in front of the wooden peg base, with fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, adjusting finger positions and closing fingers around the block with small observable movements of the fingers and wrist to form a grip."}, {"label": "goal", "start_step": 193, "end_step": 460, "id": "84939854-26ea-4df4-8e39-c1c4808a6f18"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating it from the dark table support surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand transports the lifted green hexagonal block horizontally to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reorient: Right hand rotates the grasped green hexagonal block slightly to align its central hexagonal hole with the top of the target purple peg."}, {"label": "subtasks", "start_step": 292, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand guides the aligned green hexagonal block onto the purple peg, inserting the peg through the block's central hole to form an assembly connection."}, {"label": "subtasks", "start_step": 398, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand lowers the green hexagonal block down the purple peg, moving it toward the supporting white block positioned below on the same peg."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand releases the green hexagonal block placed on the peg board, opening fingers to separate from the block."}, {"label": "goal", "start_step": 461, "end_step": 635, "id": "6bd32247-01a1-40d9-ab8b-7c88de08dac1"}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downwards empty toward the green hexagonal block resting on the table in front of the peg board, without establishing contact with the target block."}, {"label": "subtasks", "start_step": 518, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making repeated slight adjustments to finger positions and wrist orientation to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table, lifts the nut upward until it is fully separated from the table surface."}, {"label": "goal", "start_step": 636, "end_step": 790, "id": "85b9219a-d27e-43fc-a1b7-7a80872e5e96"}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand holds the lifted white hexagonal nut, moves it toward the purple post on the wooden assembly base until the nut is positioned above the target post."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand holds the white hexagonal nut, slightly adjusts its position and orientation to align the nut's hole with the purple post, then fits the nut onto the top of the post."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand holds the white hexagonal nut fitted on the purple post, moves the nut downward along the post until the nut rests stably on the green block below."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place_release: Right hand sets the white hexagonal block onto the purple peg of the wooden stand and opens fingers to let go of the block."}, {"label": "goal", "start_step": 791, "end_step": 880, "id": "f9e559d8-46c0-44ca-86b3-de5afff965ce"}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact to secure the block."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the firmly grasped white hexagonal nut directly upward to raise it off the black table support surface."}, {"label": "goal", "start_step": 881, "end_step": 1140, "id": "40b33a30-9b07-4862-9c43-5787c6906b5a"}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand transports the lifted white hexagonal nut upward and forward toward the wooden peg stand, positioning the nut directly above the target purple peg."}, {"label": "subtasks", "start_step": 922, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand makes small positional and rotational adjustments to the grasped white hexagonal nut to align its central hole with the target purple peg on the wooden base, fitting the nut onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: hold: Right hand holds the fully seated white hexagonal nut on the purple peg with no visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate_release: Right hand positions the white hexagonal piece over the purple peg on the wooden board, presses it down to fit securely on the peg, and opens fingers to release the attached piece."}, {"label": "goal", "start_step": 1141, "end_step": 1220, "id": "04f6344e-e71d-46fa-a4fb-7891ed2a5e94"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal piece resting on the table surface near the front edge of the wooden peg board."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal piece on the table to establish a stable grip on the object."}, {"label": "goal", "start_step": 1221, "end_step": 1330, "id": "eed47186-84d3-432a-a19f-4e6290e7b0d4"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the rightmost purple peg and moves the block downward to fit it onto the peg, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand releases the white hexagonal hollow block placed on the purple peg of the wooden base, with fingers gradually opening to separate from the block."}, {"label": "goal", "start_step": 1331, "end_step": 1420, "id": "25d24737-5dc5-4787-901a-489186a2bb2e"}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward toward the green hexagonal hollow block resting on the black table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1431, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand adjusts finger positions around the target green hexagonal hollow block on the table, fingers closing to form a grip on the block."}, {"label": "goal", "start_step": 1421, "end_step": 1510, "id": "d70b4014-30e1-4d7f-8dd0-34a39cd6a576"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table and moves it upward to the position above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the inner hole of the green hexagonal nut with the purple rod on the rack and lowers the nut to fit onto the rod to complete assembly alignment."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand holds the green hexagonal block and lowers it onto the purple wooden peg on the assembly board until the block is supported by the peg."}, {"label": "goal", "start_step": 1511, "end_step": 1615, "id": "deacfbfa-8772-488c-b236-1e733b2dbe89"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the assembly board peg."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish a stable grip on the block."}, {"label": "goal", "start_step": 1616, "end_step": 1830, "id": "3f74a4a6-ea06-486f-a798-cb7237021e92"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the wooden peg board."}, {"label": "subtasks", "start_step": 1665, "end_step": 1777, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden board and fits the nut down onto the peg."}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: idle: Right hand remains empty near the purple rod on the wooden block tray without visible movement."}, {"label": "goal", "start_step": 1831, "end_step": 1955, "id": "d7e3f80a-6b63-43cd-9405-3cd5f25714a9"}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the black table surface to the right of the wooden block tray."}, {"label": "subtasks", "start_step": 1868, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand adjusts finger positions and contact points around the white hexagonal nut on the table to form a stable grasp, with continuous small finger movements."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: hold: Right hand holds the white hexagonal block above the dark table surface without moving."}, {"label": "goal", "start_step": 1956, "end_step": 2085, "id": "0023456d-9cec-4992-bc23-b10f3252c4c8"}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and moves horizontally toward the wooden rack, positioning the block above the purple vertical rod on the rack."}, {"label": "subtasks", "start_step": 2002, "end_step": 2069, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit over the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand lowers the white hexagonal block to rest on the wooden rack base, with the block fully supported by the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, separating the hand from the placed block."}, {"label": "goal", "start_step": 2086, "end_step": 2145, "id": "09f2418f-0b47-4f36-af12-eb6f2c987dfa"}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward and rightward from the area beside the purple post on the tray toward the white hexagonal block resting on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp on the block."}, {"label": "goal", "start_step": 2146, "end_step": 2285, "id": "4190f7cd-57a8-4f9d-bade-a5a20b462427"}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to position it above the purple post on the wooden tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post, lowering the block slightly to fit it onto the post to form an assembly relationship."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple post until the block rests stably on the post base, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens fingers to release the white bottle with purple top onto the wooden tray, separating all fingers from the bottle surface."}, {"label": "goal", "start_step": 2286, "end_step": 2360, "id": "80cf75e9-c91b-4a14-91c9-e0193d70ee3c"}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves with empty hand downward and rightward toward the green cubic block on the black table surface, fingers held in an extended position."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, adjusting finger contact points to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the green holed cube upward, fully separating it from the black table surface."}, {"label": "goal", "start_step": 2361, "end_step": 2495, "id": "b7f15414-d09e-49e9-8f2f-d3a4d9257543"}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand carries the green holed cube horizontally toward the wooden tray holding stacked white and green cylinders."}, {"label": "subtasks", "start_step": 2415, "end_step": 2504, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place_release: Right hand lowers the green holed cube to rest on top of the purple-capped cylinder and opens fingers to release grip on the cube."}, {"label": "home", "start_step": 2539, "end_step": 2570, "id": "RmkpQq9zI2BOoL_89lNhn"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: idle: Right hand remains empty at the right side of the workspace, with no obvious translational or rotational movement of the hand or wrist."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block on the table in front of the wooden peg base, with fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, adjusting finger positions and closing fingers around the block with small observable movements of the fingers and wrist to form a grip."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating it from the dark table support surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand transports the lifted green hexagonal block horizontally to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reorient: Right hand rotates the grasped green hexagonal block slightly to align its central hexagonal hole with the top of the target purple peg."}, {"label": "subtasks", "start_step": 292, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand guides the aligned green hexagonal block onto the purple peg, inserting the peg through the block's central hole to form an assembly connection."}, {"label": "subtasks", "start_step": 398, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand lowers the green hexagonal block down the purple peg, moving it toward the supporting white block positioned below on the same peg."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand releases the green hexagonal block placed on the peg board, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downwards empty toward the green hexagonal block resting on the table in front of the peg board, without establishing contact with the target block."}, {"label": "subtasks", "start_step": 518, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making repeated slight adjustments to finger positions and wrist orientation to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table, lifts the nut upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand holds the lifted white hexagonal nut, moves it toward the purple post on the wooden assembly base until the nut is positioned above the target post."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand holds the white hexagonal nut, slightly adjusts its position and orientation to align the nut's hole with the purple post, then fits the nut onto the top of the post."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand holds the white hexagonal nut fitted on the purple post, moves the nut downward along the post until the nut rests stably on the green block below."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place_release: Right hand sets the white hexagonal block onto the purple peg of the wooden stand and opens fingers to let go of the block."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact to secure the block."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the firmly grasped white hexagonal nut directly upward to raise it off the black table support surface."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand transports the lifted white hexagonal nut upward and forward toward the wooden peg stand, positioning the nut directly above the target purple peg."}, {"label": "subtasks", "start_step": 922, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand makes small positional and rotational adjustments to the grasped white hexagonal nut to align its central hole with the target purple peg on the wooden base, fitting the nut onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: hold: Right hand holds the fully seated white hexagonal nut on the purple peg with no visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate_release: Right hand positions the white hexagonal piece over the purple peg on the wooden board, presses it down to fit securely on the peg, and opens fingers to release the attached piece."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal piece resting on the table surface near the front edge of the wooden peg board."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal piece on the table to establish a stable grip on the object."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the rightmost purple peg and moves the block downward to fit it onto the peg, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand releases the white hexagonal hollow block placed on the purple peg of the wooden base, with fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward toward the green hexagonal hollow block resting on the black table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1431, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand adjusts finger positions around the target green hexagonal hollow block on the table, fingers closing to form a grip on the block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table and moves it upward to the position above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the inner hole of the green hexagonal nut with the purple rod on the rack and lowers the nut to fit onto the rod to complete assembly alignment."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand holds the green hexagonal block and lowers it onto the purple wooden peg on the assembly board until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the assembly board peg."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the wooden peg board."}, {"label": "subtasks", "start_step": 1665, "end_step": 1777, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden board and fits the nut down onto the peg."}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: idle: Right hand remains empty near the purple rod on the wooden block tray without visible movement."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the black table surface to the right of the wooden block tray."}, {"label": "subtasks", "start_step": 1868, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand adjusts finger positions and contact points around the white hexagonal nut on the table to form a stable grasp, with continuous small finger movements."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: hold: Right hand holds the white hexagonal block above the dark table surface without moving."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and moves horizontally toward the wooden rack, positioning the block above the purple vertical rod on the rack."}, {"label": "subtasks", "start_step": 2002, "end_step": 2069, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit over the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand lowers the white hexagonal block to rest on the wooden rack base, with the block fully supported by the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, separating the hand from the placed block."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward and rightward from the area beside the purple post on the tray toward the white hexagonal block resting on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to position it above the purple post on the wooden tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post, lowering the block slightly to fit it onto the post to form an assembly relationship."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple post until the block rests stably on the post base, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens fingers to release the white bottle with purple top onto the wooden tray, separating all fingers from the bottle surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves with empty hand downward and rightward toward the green cubic block on the black table surface, fingers held in an extended position."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, adjusting finger contact points to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the green holed cube upward, fully separating it from the black table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand carries the green holed cube horizontally toward the wooden tray holding stacked white and green cylinders."}, {"label": "subtasks", "start_step": 2415, "end_step": 2504, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place_release: Right hand lowers the green holed cube to rest on top of the purple-capped cylinder and opens fingers to release grip on the cube."}], "episode_index": 0}
+{"source_uid": "21657e602b60e890", "num_frames": 1981, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "bedfdcfd-585d-4a09-8b97-b3b366a417f3"}, {"label": "valid", "start_step": 0, "end_step": 1946, "id": "O_0C23Hy3gWk54AILIqw4"}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 151, "end_step": 255, "id": "091e498f-3ead-43c5-9d9f-78b8a32ff080"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the purple peg to the bottom, and releases the block with fingers opening."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the peg tower, with fingers gradually opening to separate from the block."}, {"label": "goal", "start_step": 256, "end_step": 400, "id": "7c336016-0ae7-4269-bc60-a78bfb686164"}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface, moving downward from the peg tower."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut placed on the green base on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 401, "end_step": 515, "id": "86bec869-60b4-41d3-a39e-5e1b5b47d08b"}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green base and transports it to the position above a vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the vertical peg and lowers it to fit onto the peg until fully seated."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal nut seated on the vertical peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 516, "end_step": 595, "id": "64565085-7e81-4fc0-a050-aa6af9f4d882"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 596, "end_step": 815, "id": "900110eb-9e88-4272-a137-e87760bb4508"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it forward toward the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 638, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple vertical peg, moving the ring downward along the peg."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the leftmost purple peg of the stacking base and releases its grip."}, {"label": "goal", "start_step": 816, "end_step": 905, "id": "572dc56f-0fc5-4644-9e8c-385b596a36bc"}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal ring on the table in front of the stacking base."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table in front of the stacking base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical part on the black tabletop at the lower right of the pegboard without moving."}, {"label": "goal", "start_step": 906, "end_step": 995, "id": "6f9a9fdb-45e7-40e9-bfa6-dc2100b6270f"}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part from the tabletop and moves it to above the rightmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand fits the white hollow cylindrical part onto the rightmost purple peg of the pegboard and releases it."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white ring onto the right purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 996, "end_step": 1060, "id": "941d28be-e7e7-4d36-930e-3f6644f553fd"}, {"label": "subtasks", "start_step": 1012, "end_step": 1041, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table with fingers closing around it."}, {"label": "goal", "start_step": 1061, "end_step": 1170, "id": "734dd5b7-5738-4647-a5f6-bd73a8f3b54d"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the right purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the pegboard, fingers open and separate from the block."}, {"label": "goal", "start_step": 1171, "end_step": 1255, "id": "700057e5-25ec-4997-94e9-ee634d13ba4f"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers close and adjust around the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1256, "end_step": 1365, "id": "1b13b36a-c4ba-4dd5-b9ef-6d21c87dcd15"}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the table surface towards the wooden peg board."}, {"label": "subtasks", "start_step": 1282, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple vertical peg of the wooden base, lowering it into place."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple peg without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward and rightward from the area above the stacked blocks toward the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1366, "end_step": 1445, "id": "5a618cf6-ad78-416b-aa95-a8fd438d484b"}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the right table surface and lifts it off the table."}, {"label": "goal", "start_step": 1446, "end_step": 1530, "id": "7cd9576b-4827-4c77-a81c-963d1cac77f8"}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats slightly rightward away from the purple rod."}, {"label": "goal", "start_step": 1531, "end_step": 1590, "id": "a519e0fe-c9ce-4bcf-8266-4b74f4683793"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hollow cylindrical piece on the dark table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white cylindrical piece on the table, with fingers closing around the piece to form a stable grip."}, {"label": "goal", "start_step": 1591, "end_step": 1705, "id": "f1d4208e-ccdc-4d2a-a40e-3e6e8c8ca557"}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white cylindrical piece upward off the dark table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white cylindrical piece upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple peg, aligning the inner hole of the piece with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the white cylinder with a purple rod down onto the wooden base."}, {"label": "goal", "start_step": 1706, "end_step": 1770, "id": "c0659206-5ffb-4d4a-874e-9372a6f48756"}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green hollow block up from the right side of the black table surface."}, {"label": "goal", "start_step": 1771, "end_step": 1895, "id": "3aed174a-6c84-4428-859f-f7bc5a3fcda2"}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the green hollow block leftward to the position above the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hollow block onto the rightmost peg, aligning its hole with the peg and lowering it into fitting position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hollow block by gradually opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty next to the rightmost peg without moving."}, {"label": "home", "start_step": 1947, "end_step": 1980, "id": "sYgbAtCdlflhKZHPRJJVp"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the purple peg to the bottom, and releases the block with fingers opening."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the peg tower, with fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface, moving downward from the peg tower."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut placed on the green base on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green base and transports it to the position above a vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the vertical peg and lowers it to fit onto the peg until fully seated."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal nut seated on the vertical peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it forward toward the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 638, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple vertical peg, moving the ring downward along the peg."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the leftmost purple peg of the stacking base and releases its grip."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal ring on the table in front of the stacking base."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table in front of the stacking base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical part on the black tabletop at the lower right of the pegboard without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part from the tabletop and moves it to above the rightmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand fits the white hollow cylindrical part onto the rightmost purple peg of the pegboard and releases it."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white ring onto the right purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1012, "end_step": 1041, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the right purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the pegboard, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers close and adjust around the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the table surface towards the wooden peg board."}, {"label": "subtasks", "start_step": 1282, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple vertical peg of the wooden base, lowering it into place."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple peg without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward and rightward from the area above the stacked blocks toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the right table surface and lifts it off the table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats slightly rightward away from the purple rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hollow cylindrical piece on the dark table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white cylindrical piece on the table, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white cylindrical piece upward off the dark table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white cylindrical piece upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple peg, aligning the inner hole of the piece with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the white cylinder with a purple rod down onto the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green hollow block up from the right side of the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the green hollow block leftward to the position above the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hollow block onto the rightmost peg, aligning its hole with the peg and lowering it into fitting position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hollow block by gradually opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty next to the rightmost peg without moving."}], "episode_index": 1}
+{"source_uid": "d6b4d60551baec3d", "num_frames": 2150, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green block located on the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "d6ba5293-5bbd-42de-8e42-363be8ffbef8"}, {"label": "valid", "start_step": 0, "end_step": 2118, "id": "yRXIoi0YSP684Ln-IRRLn"}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block still without any observable movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 156, "end_step": 275, "id": "d38a4047-522f-484f-9348-2ca3ae9c86cb"}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg, aligning the block's central hole with the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 276, "end_step": 340, "id": "b33fda43-8fee-48e2-bce0-5a0c853d7c2c"}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 341, "end_step": 480, "id": "221e5b9e-8313-4c6e-9350-ac88b45d14ed"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}, {"label": "goal", "start_step": 481, "end_step": 560, "id": "03ca579b-390f-4113-9aca-d53da581db6a"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 561, "end_step": 680, "id": "6209a146-8c99-497a-b3f6-89219e81ee46"}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is properly fitted on the purple rod."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 681, "end_step": 860, "id": "e4726d6a-3741-435d-940c-d94b90c6d327"}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 728, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black table."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden board."}, {"label": "goal", "start_step": 861, "end_step": 960, "id": "88bfa048-6acb-40aa-8715-f1a8eb9e5b8a"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden board and fits it onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green block on the black tabletop."}, {"label": "goal", "start_step": 961, "end_step": 1025, "id": "9b127854-be33-4630-90c0-19c19d1eb9b2"}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the black tabletop."}, {"label": "goal", "start_step": 1026, "end_step": 1140, "id": "f0c7f3fd-dcbc-4056-9da5-d37f50a08b64"}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the green block onto the purple rod and then releases the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black tabletop."}, {"label": "goal", "start_step": 1141, "end_step": 1205, "id": "822fbda0-f7e7-4926-b015-7175bc9e3904"}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the tabletop."}, {"label": "goal", "start_step": 1206, "end_step": 1420, "id": "065a5641-7175-4d8f-93ef-eee2a19a7fd6"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal ring down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1421, "end_step": 1545, "id": "254980db-5c0c-4130-b7b8-6093bd466566"}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white cylindrical ring on the black tabletop."}, {"label": "subtasks", "start_step": 1478, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical ring on the black tabletop."}, {"label": "goal", "start_step": 1546, "end_step": 1655, "id": "9d72b781-4bfb-443c-8f74-9bd55c832c6b"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod, lowering it until the ring is fully fitted onto the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1656, "end_step": 1720, "id": "123de6e3-a9ff-496e-9405-6ab713825d69"}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1721, "end_step": 1865, "id": "3ef6ee52-642c-45b3-bc80-19f52350629d"}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1859, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table."}, {"label": "goal", "start_step": 1866, "end_step": 1965, "id": "a2b8ad9a-dbae-4ea5-9d6b-7a5fdeb8cfc4"}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green square block on the table without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green square block on the right table surface."}, {"label": "goal", "start_step": 1966, "end_step": 2080, "id": "2661e1e8-abef-4736-b2d7-125e00df35d3"}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the rightmost white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white pillar and fits it onto the pillar."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block placed on the white pillar."}, {"label": "home", "start_step": 2119, "end_step": 2149, "id": "r03VTVhAis-gIHQvFIuGJ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green block located on the left side of the wooden rack."}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block still without any observable movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg, aligning the block's central hole with the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is properly fitted on the purple rod."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 728, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black table."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden board."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden board and fits it onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green block on the black tabletop."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the black tabletop."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the green block onto the purple rod and then releases the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the tabletop."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal ring down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white cylindrical ring on the black tabletop."}, {"label": "subtasks", "start_step": 1478, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical ring on the black tabletop."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod, lowering it until the ring is fully fitted onto the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1859, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green square block on the table without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green square block on the right table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the rightmost white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white pillar and fits it onto the pillar."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block placed on the white pillar."}], "episode_index": 2}
+{"source_uid": "add0f6c5436ca9ab", "num_frames": 2225, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves left and downward with open fingers toward the green hexagonal block located at the front-left of the wooden peg board."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "9d0e30d5-8836-4953-9526-cfae58bfa64e"}, {"label": "valid", "start_step": 0, "end_step": 2192, "id": "-Frl2BbLnGIlFUlolAOLr"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight adjustments to finger positions to establish grip."}, {"label": "goal", "start_step": 131, "end_step": 285, "id": "05889125-7c26-4b94-9d50-530bd3b89648"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 172, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the held green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 278, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place_release: Right hand positions the white and green blocks onto the wooden rack, releasing fingers to leave the blocks stably supported on the rack."}, {"label": "goal", "start_step": 286, "end_step": 445, "id": "949e4eb2-0b8e-4e73-bb41-521bbec00500"}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from the wooden rack toward the white hexagonal nut on the table surface, making no contact with the nut."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily above the table surface without observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 446, "end_step": 565, "id": "6c8b6647-0f72-45ed-9995-38529af54db7"}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position above the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 488, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align its central hole with the purple peg, partially inserting the nut onto the peg."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until the nut is stably supported by the green base under the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: release: Right hand releases the white cylindrical nut mounted on the wooden rack, fingers opening to separate from the nut which stays on the rack post."}, {"label": "goal", "start_step": 566, "end_step": 735, "id": "b2bd2144-3bd7-402c-ba22-ca354e37372b"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 600, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small positional and finger adjustments to form a stable grip while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the black table surface, with no observable movement of the hand, fingers or the gripped nut."}, {"label": "goal", "start_step": 736, "end_step": 870, "id": "21fba161-1cdb-455a-875e-43c6c788fb74"}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white nut off the table and carries it upward toward the wooden peg board, stopping above the leftmost purple peg."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the white nut's position to align its central hole with the leftmost purple peg and lowers the nut to nest onto the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white nut seated on the existing lower white nut on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves forward and downward toward the white hexagonal nut resting on the black table surface in front of the wooden peg base, with fingers held in a slightly open position as it approaches the target."}, {"label": "goal", "start_step": 871, "end_step": 945, "id": "7f07b193-0015-4a9f-954d-83efb48ad4e8"}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface to establish a stable grip on the object."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, with no observable changes to hand position, finger posture, or nut placement."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand makes small adjustments to its fingers and wrist to stabilize the grasp on the white hexagonal nut resting on the table."}, {"label": "goal", "start_step": 946, "end_step": 1080, "id": "35bd58c4-f7e2-4899-8374-b8e126c125b5"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post and lowers the nut slightly to fit it onto the top of the post."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place: Right hand slides the white hexagonal nut down along the purple post until the nut rests stably on the surface of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut."}, {"label": "goal", "start_step": 1081, "end_step": 1140, "id": "2a34cb7e-c2aa-4e18-9e7a-005d691e37b3"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface with fingers open."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting grip until stable."}, {"label": "goal", "start_step": 1141, "end_step": 1255, "id": "cdf0c170-a998-4189-a91d-f0070eb9ab5f"}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: transport: Right hand carries the green hexagonal block toward the purple post on the wooden assembly base, positioning it above the post."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place: Right hand lowers the aligned green hexagonal block onto the purple post until the block is supported by the post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place_release: Right hand holds the green ring, seats it onto the purple vertical post and opens fingers to release the ring."}, {"label": "goal", "start_step": 1256, "end_step": 1335, "id": "54a3f1b5-38d5-42a7-bd48-08c5c949e131"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward from the block assembly toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger and wrist positions to establish a grip on the nut."}, {"label": "goal", "start_step": 1336, "end_step": 1475, "id": "326039a1-aff6-4a9c-9ad6-d6637f09dc8d"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making slight positional adjustments to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from above the wooden block set with fingers open, approaching the white hexagonal nut placed on the table near the right edge of the set."}, {"label": "goal", "start_step": 1476, "end_step": 1535, "id": "10c39681-5e77-49e3-b13a-8847a1e62ce7"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip slightly to form a stable hold on the nut."}, {"label": "goal", "start_step": 1536, "end_step": 1770, "id": "15a70ee3-a021-429c-a715-1bce8579e2ef"}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward to position it directly above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1582, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the wooden block set, fits the nut down onto the rod with small positional adjustments, opens fingers to release the nut resting on the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the light purple cylinder on the wooden base without moving."}, {"label": "goal", "start_step": 1771, "end_step": 1875, "id": "e44b47e3-c323-4a6a-a791-2622ed0babc1"}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: release: Right hand opens fingers to release the light purple cylinder, moving away from the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut to form a stable grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table without visible movement."}, {"label": "goal", "start_step": 1876, "end_step": 1970, "id": "560df1d0-989e-4785-a634-5f8b95b273e5"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the area above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, and fits the block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod until the block rests stably on the lower white block on the wooden stand, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 2017, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the green holed block resting on the dark table surface, approaching the block without making contact."}, {"label": "goal", "start_step": 1971, "end_step": 2035, "id": "32a800a8-0294-4c44-814a-c48542c07ac3"}, {"label": "subtasks", "start_step": 2018, "end_step": 2047, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green holed block on the table, adjusting finger positions to form a stable grasp while the block remains supported by the table."}, {"label": "goal", "start_step": 2036, "end_step": 2160, "id": "fbc65b5f-31e6-4154-b427-d333f96964af"}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green holed block completely off the table surface, transporting the block upward and leftward to the position directly above the purple-topped white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate_release: Right hand aligns the central hole of the green block with the purple-topped white cylinder, lowers the block to fit it securely onto the cylinder top, opening fingers to release the block from the grasp."}, {"label": "home", "start_step": 2193, "end_step": 2224, "id": "XDJ28fcwcrtw3PpPdsWIl"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves left and downward with open fingers toward the green hexagonal block located at the front-left of the wooden peg board."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight adjustments to finger positions to establish grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 172, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the held green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 278, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place_release: Right hand positions the white and green blocks onto the wooden rack, releasing fingers to leave the blocks stably supported on the rack."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from the wooden rack toward the white hexagonal nut on the table surface, making no contact with the nut."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily above the table surface without observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position above the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 488, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align its central hole with the purple peg, partially inserting the nut onto the peg."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until the nut is stably supported by the green base under the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: release: Right hand releases the white cylindrical nut mounted on the wooden rack, fingers opening to separate from the nut which stays on the rack post."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 600, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small positional and finger adjustments to form a stable grip while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the black table surface, with no observable movement of the hand, fingers or the gripped nut."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white nut off the table and carries it upward toward the wooden peg board, stopping above the leftmost purple peg."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the white nut's position to align its central hole with the leftmost purple peg and lowers the nut to nest onto the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white nut seated on the existing lower white nut on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves forward and downward toward the white hexagonal nut resting on the black table surface in front of the wooden peg base, with fingers held in a slightly open position as it approaches the target."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface to establish a stable grip on the object."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, with no observable changes to hand position, finger posture, or nut placement."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand makes small adjustments to its fingers and wrist to stabilize the grasp on the white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post and lowers the nut slightly to fit it onto the top of the post."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place: Right hand slides the white hexagonal nut down along the purple post until the nut rests stably on the surface of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface with fingers open."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting grip until stable."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: transport: Right hand carries the green hexagonal block toward the purple post on the wooden assembly base, positioning it above the post."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place: Right hand lowers the aligned green hexagonal block onto the purple post until the block is supported by the post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place_release: Right hand holds the green ring, seats it onto the purple vertical post and opens fingers to release the ring."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward from the block assembly toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger and wrist positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making slight positional adjustments to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from above the wooden block set with fingers open, approaching the white hexagonal nut placed on the table near the right edge of the set."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip slightly to form a stable hold on the nut."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward to position it directly above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1582, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the wooden block set, fits the nut down onto the rod with small positional adjustments, opens fingers to release the nut resting on the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the light purple cylinder on the wooden base without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: release: Right hand opens fingers to release the light purple cylinder, moving away from the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut to form a stable grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table without visible movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the area above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, and fits the block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod until the block rests stably on the lower white block on the wooden stand, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 2017, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the green holed block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2018, "end_step": 2047, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green holed block on the table, adjusting finger positions to form a stable grasp while the block remains supported by the table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green holed block completely off the table surface, transporting the block upward and leftward to the position directly above the purple-topped white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate_release: Right hand aligns the central hole of the green block with the purple-topped white cylinder, lowers the block to fit it securely onto the cylinder top, opening fingers to release the block from the grasp."}], "episode_index": 3}
+{"source_uid": "72a3584495f85cc8", "num_frames": 2594, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and slightly forward from the right side of the table toward the green cubic block on the table surface, keeping fingers open and not contacting the block."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "72b32abd-c25a-45db-975d-423c37a2ba07"}, {"label": "valid", "start_step": 0, "end_step": 2560, "id": "qmj1bCa4FezsSeTnereGs"}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green cubic block, with fingers closing to establish and adjust the grasp on the block."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 126, "end_step": 240, "id": "ccc04c0a-ae47-4659-a957-65d9114d1eb5"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it toward the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base, aligning and fitting it into place."}, {"label": "subtasks", "start_step": 172, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the purple peg of the wooden base and releases the piece."}, {"label": "goal", "start_step": 241, "end_step": 325, "id": "b90864ca-491e-4cc1-80e8-0332e3fb9923"}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table with empty hand."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 326, "end_step": 435, "id": "0288553f-4a2a-4fdc-8104-da2ee876d4e7"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table and transports it to the position above the left purple peg."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the left purple peg and inserts it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the left purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the front-right purple peg of the wooden base."}, {"label": "goal", "start_step": 436, "end_step": 495, "id": "8860d4ab-437d-4496-a7ea-4450c0b5e1ba"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the lower-left area of the table."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left area of the table with fingers closing."}, {"label": "goal", "start_step": 496, "end_step": 605, "id": "92df96ba-bf7c-4fde-bdd9-8bb3b22e6f61"}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg by aligning the hole and inserting it downward."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the purple rod inserted in the top white building block."}, {"label": "goal", "start_step": 606, "end_step": 680, "id": "0c27ed66-c3b0-48d0-9515-c0d424f8cc86"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the purple rod downward to the position above the front white hexagonal block on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the purple rod with the hole of the front white hexagonal block on the table."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 681, "end_step": 855, "id": "f4679c48-0de5-4cc4-9e9b-2d0c3725a4b2"}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it upward and leftward towards the wooden peg board."}, {"label": "subtasks", "start_step": 720, "end_step": 817, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg on the wooden base and lowers it onto the peg, making small positional adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal ring, leaving the ring seated on the purple peg."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upward and away from the purple peg after releasing the ring."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the green hexagonal block on the black table."}, {"label": "goal", "start_step": 856, "end_step": 915, "id": "db44a514-c532-496d-b752-0f4a14e5f385"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and moves the green hexagonal block from the table to above the right purple peg on the pegboard."}, {"label": "goal", "start_step": 916, "end_step": 1040, "id": "e231410a-c9d3-4282-b693-7ff198040f72"}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the right purple peg and slides it down onto the peg for assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the right peg of the wooden base."}, {"label": "goal", "start_step": 1041, "end_step": 1440, "id": "70f79078-9451-4128-b590-e3279b8095b6"}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower left area of the table."}, {"label": "subtasks", "start_step": 1088, "end_step": 1154, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps the white hexagonal block on the lower left area of the table, then releases it quickly."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves upward toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block with fingers closing around it."}, {"label": "subtasks", "start_step": 1200, "end_step": 1334, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the upper white hexagonal block off the table and transports it downward to a lower position."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the table surface and releases it."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward and away from the just-placed white hexagonal block."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the lowest white hexagonal block next to the green block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lowest white hexagonal block next to the green block with fingers adjusting to hold it."}, {"label": "goal", "start_step": 1441, "end_step": 1600, "id": "1d526a60-64df-42ca-9ccb-fabf66456293"}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the supporting surface and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1589, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple peg by aligning and lowering it along the peg."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the building block stack, with fingers opening."}, {"label": "goal", "start_step": 1601, "end_step": 1810, "id": "9a8a5650-9f5b-4419-b714-3ccb6ee738ba"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the upper white hexagonal block on the table slightly."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves slightly toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a hole on the right table surface, fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1811, "end_step": 2005, "id": "efc5819f-5a02-4537-8bca-cfed9175646e"}, {"label": "subtasks", "start_step": 1838, "end_step": 1851, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block with a hole off the table surface."}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block with a hole leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1994, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with a hole onto the purple vertical rod, adjusting position to fit the rod through the block's hole."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg of the wooden base without moving."}, {"label": "goal", "start_step": 2006, "end_step": 2095, "id": "d0392691-2ecc-4981-978d-0ae16c182306"}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple peg, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and toward the white hexagonal piece on the black table surface near the green cube."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing around the piece."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the dark table surface without moving."}, {"label": "goal", "start_step": 2096, "end_step": 2225, "id": "9981dba2-bd2b-450b-a265-ea7180c50027"}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple peg by aligning its central hole and lowering it onto the peg."}, {"label": "subtasks", "start_step": 2168, "end_step": 2219, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder with purple top on the wooden base, fingers open and separate from the cylinder."}, {"label": "goal", "start_step": 2226, "end_step": 2410, "id": "37b07325-755a-43a1-a6a2-be1b033f0bde"}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the green cube on the black table, not yet touching the cube."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the black table, fingers close around the cube."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_reorient: Right hand lifts the green cube slightly and rotates it about 180 degrees to make the hole face upward."}, {"label": "subtasks", "start_step": 2318, "end_step": 2331, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the rotated green cube back on the black table until it is supported by the table."}, {"label": "subtasks", "start_step": 2332, "end_step": 2347, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube on the black table, fingers open and separate from the cube."}, {"label": "subtasks", "start_step": 2348, "end_step": 2361, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty beside the green cube on the black table without moving."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves toward the green cube and grasps it, fingers close around the cube."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the black table without moving."}, {"label": "goal", "start_step": 2411, "end_step": 2520, "id": "93d5041d-9557-49a0-9c86-a5d99e357037"}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the rightmost white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2445, "end_step": 2519, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white pillar and fits the block onto the pillar."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers."}, {"label": "home", "start_step": 2561, "end_step": 2593, "id": "Q9cA3V1DZJiN8fioQVYDr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and slightly forward from the right side of the table toward the green cubic block on the table surface, keeping fingers open and not contacting the block."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green cubic block, with fingers closing to establish and adjust the grasp on the block."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it toward the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base, aligning and fitting it into place."}, {"label": "subtasks", "start_step": 172, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the purple peg of the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table with empty hand."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table and transports it to the position above the left purple peg."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the left purple peg and inserts it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the left purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the front-right purple peg of the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the lower-left area of the table."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left area of the table with fingers closing."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg by aligning the hole and inserting it downward."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the purple rod inserted in the top white building block."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the purple rod downward to the position above the front white hexagonal block on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the purple rod with the hole of the front white hexagonal block on the table."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it upward and leftward towards the wooden peg board."}, {"label": "subtasks", "start_step": 720, "end_step": 817, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg on the wooden base and lowers it onto the peg, making small positional adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal ring, leaving the ring seated on the purple peg."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upward and away from the purple peg after releasing the ring."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and moves the green hexagonal block from the table to above the right purple peg on the pegboard."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the right purple peg and slides it down onto the peg for assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the right peg of the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower left area of the table."}, {"label": "subtasks", "start_step": 1088, "end_step": 1154, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps the white hexagonal block on the lower left area of the table, then releases it quickly."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves upward toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block with fingers closing around it."}, {"label": "subtasks", "start_step": 1200, "end_step": 1334, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the upper white hexagonal block off the table and transports it downward to a lower position."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the table surface and releases it."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward and away from the just-placed white hexagonal block."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the lowest white hexagonal block next to the green block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lowest white hexagonal block next to the green block with fingers adjusting to hold it."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the supporting surface and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1589, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple peg by aligning and lowering it along the peg."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the building block stack, with fingers opening."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the upper white hexagonal block on the table slightly."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves slightly toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a hole on the right table surface, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1838, "end_step": 1851, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block with a hole off the table surface."}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block with a hole leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1994, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with a hole onto the purple vertical rod, adjusting position to fit the rod through the block's hole."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple peg, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and toward the white hexagonal piece on the black table surface near the green cube."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing around the piece."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple peg by aligning its central hole and lowering it onto the peg."}, {"label": "subtasks", "start_step": 2168, "end_step": 2219, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder with purple top on the wooden base, fingers open and separate from the cylinder."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the green cube on the black table, not yet touching the cube."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the black table, fingers close around the cube."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_reorient: Right hand lifts the green cube slightly and rotates it about 180 degrees to make the hole face upward."}, {"label": "subtasks", "start_step": 2318, "end_step": 2331, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the rotated green cube back on the black table until it is supported by the table."}, {"label": "subtasks", "start_step": 2332, "end_step": 2347, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube on the black table, fingers open and separate from the cube."}, {"label": "subtasks", "start_step": 2348, "end_step": 2361, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty beside the green cube on the black table without moving."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves toward the green cube and grasps it, fingers close around the cube."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the black table without moving."}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the rightmost white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2445, "end_step": 2519, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white pillar and fits the block onto the pillar."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers."}], "episode_index": 4}
+{"source_uid": "b727ba8e822088cf", "num_frames": 2285, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table, without touching the object."}, {"label": "goal", "start_step": 0, "end_step": 220, "id": "116a2dd9-a400-4762-87aa-653523c78e0b"}, {"label": "valid", "start_step": 0, "end_step": 2253, "id": "82cgN9esGcENSi0L5dcc8"}, {"label": "subtasks", "start_step": 98, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block on the black table, with fingers adjusting to form a stable grasp."}, {"label": "goal", "start_step": 221, "end_step": 460, "id": "1518825e-5fa5-4682-8815-15b8d2a24f1d"}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 374, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green block down onto the leftmost purple rod until it is fully fitted to the base."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green block and moves away from the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 461, "end_step": 480, "id": "264da28d-4c9f-4c44-bb08-f657362b6a8e"}, {"label": "goal", "start_step": 481, "end_step": 605, "id": "186c4714-cc2c-41d8-849e-68691b2cf4ed"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it towards the purple rod on the green base."}, {"label": "subtasks", "start_step": 518, "end_step": 621, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the green base."}, {"label": "goal", "start_step": 606, "end_step": 680, "id": "3b5336d2-5284-4f24-bd14-775ce5dc39d0"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop by closing its fingers."}, {"label": "goal", "start_step": 681, "end_step": 840, "id": "da5cb071-a4be-4c5d-8fba-e6afb5c0132d"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block, separating from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the upper block assembly position towards the white hexagonal block on the table near the wooden base."}, {"label": "goal", "start_step": 841, "end_step": 920, "id": "eec0eaec-9ccc-4a4a-a59d-ff0f64517400"}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts and grasps the white hexagonal block on the table near the wooden base, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "goal", "start_step": 921, "end_step": 1100, "id": "d5bf2b90-7fd0-4d61-8532-89319f9a39c9"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal object towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1027, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the purple peg without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple peg and moves fingers away."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1101, "end_step": 1165, "id": "3363e7d8-ebdb-4142-8ecd-8f940dcc36ea"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves down toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1166, "end_step": 1310, "id": "469609bb-7ebd-45f3-a315-9db55c1d0ae5"}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the green hexagonal block toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hexagonal block from its grip."}, {"label": "goal", "start_step": 1311, "end_step": 1400, "id": "6e8bb8db-0669-467b-a56f-5d9f61a5094f"}, {"label": "subtasks", "start_step": 1320, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black tabletop to adjust and form a stable grip."}, {"label": "goal", "start_step": 1401, "end_step": 1495, "id": "378b0513-8e2b-4bf3-8abe-5c6fe13d91f8"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it towards the peg on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the peg on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1496, "end_step": 1650, "id": "42e851ff-ed85-463b-b491-0fb85b67f98e"}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release_reach: Right hand releases the placed white cylindrical block and moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1649, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden base."}, {"label": "goal", "start_step": 1651, "end_step": 1820, "id": "0aff97a5-773c-4b30-9018-5d6e9e8fd827"}, {"label": "subtasks", "start_step": 1688, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block that is placed on the purple rod."}, {"label": "goal", "start_step": 1821, "end_step": 1910, "id": "4e9ac9de-1d67-43e9-8399-3c5aab8341a9"}, {"label": "subtasks", "start_step": 1830, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white cylinder with purple top into the hole on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand holds the white hexagonal object and moves it towards the purple rod on the wooden tray."}, {"label": "goal", "start_step": 1911, "end_step": 2030, "id": "24172a67-7b30-47d4-8d16-9520b25721e8"}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the green square block placed on the black table surface."}, {"label": "goal", "start_step": 2031, "end_step": 2090, "id": "8cde30b2-4751-47bc-891c-c38334ef26ae"}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black table."}, {"label": "goal", "start_step": 2091, "end_step": 2215, "id": "294d5ba0-87bf-4ac9-8992-dd04421b979f"}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it towards the white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green square block with the white pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green square block from its grip."}, {"label": "home", "start_step": 2254, "end_step": 2284, "id": "vc_807URdbZlj7BUykHRa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table, without touching the object."}, {"label": "subtasks", "start_step": 98, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block on the black table, with fingers adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 374, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green block down onto the leftmost purple rod until it is fully fitted to the base."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green block and moves away from the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it towards the purple rod on the green base."}, {"label": "subtasks", "start_step": 518, "end_step": 621, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the green base."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop by closing its fingers."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block, separating from the block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the upper block assembly position towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts and grasps the white hexagonal block on the table near the wooden base, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal object towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1027, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the purple peg without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple peg and moves fingers away."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves down toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the green hexagonal block toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black tabletop to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it towards the peg on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the peg on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release_reach: Right hand releases the placed white cylindrical block and moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1649, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block that is placed on the purple rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white cylinder with purple top into the hole on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand holds the white hexagonal object and moves it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it towards the white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green square block with the white pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green square block from its grip."}], "episode_index": 5}
+{"source_uid": "9d94f93d51d8f05c", "num_frames": 2657, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward and leftward from its initial raised position toward the green hexagonal block on the table near the wooden pegboard, with fingers held slightly extended."}, {"label": "goal", "start_step": 0, "end_step": 415, "id": "4585faba-8fdb-48d6-8255-ad1fd0bf07c4"}, {"label": "valid", "start_step": 0, "end_step": 2628, "id": "mennrKmMTIGk-HFqjP5bv"}, {"label": "subtasks", "start_step": 98, "end_step": 337, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the target green hexagonal block on the table, making fine finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers, or the gripped block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand adjusts its finger positions to establish a stable grasp around the green hexagonal block resting on the black table surface near the wooden assembly base."}, {"label": "goal", "start_step": 416, "end_step": 550, "id": "333c6cfb-3568-402d-a032-79ebe7971f39"}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block fully off the black table surface and moves it upward to the position directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 524, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple post, lowering the block slightly to fit it onto the post."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple post until it rests stably on the surface of the wooden assembly base."}, {"label": "goal", "start_step": 551, "end_step": 645, "id": "f58b0848-4f41-4eb3-ad2f-5f873d8a716f"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward and forward from the block assembly area toward the white hexagonal nut on the table surface, without contacting the nut."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand fingers close around the white hexagonal nut on the table, adjusting finger contact points to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand moves upward while holding the grasped white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand makes small finger adjustments to establish a stable grip on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 646, "end_step": 765, "id": "16e652d8-9292-4329-9141-e2256a4e0c54"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and transports it upward to the position directly above the target purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple peg, lowers the nut to fit securely onto the peg, opens its fingers to release the fully assembled nut."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from the position near the wooden assembly stand to approach the white hexagonal nut on the black table surface, remaining empty before making contact with the nut."}, {"label": "goal", "start_step": 766, "end_step": 835, "id": "267282cf-226a-4a50-9cef-99a7c462ed54"}, {"label": "subtasks", "start_step": 802, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut stays on the table surface."}, {"label": "goal", "start_step": 836, "end_step": 950, "id": "beff3136-7269-43bb-ba2a-4425ff2e57ef"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves it upward and forward to position it directly above the empty purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg below, moves the nut downward to fit it onto the peg with small positional adjustments to complete the nesting fit."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted onto the purple peg, separating the hand from the nut."}, {"label": "goal", "start_step": 951, "end_step": 1423, "id": "471b59f5-471a-4bd7-9b66-ac03ae55d0c5"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from above the wooden block set toward the white hexagonal nut placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip, with the nut still resting on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and horizontally to position it directly above the target purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1244, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and adjusts its position to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to fall onto the table surface below."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from above the wooden base toward the white hexagonal nut that fell onto the table near the base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1387, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut on the table surface without observable movement."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to form a stable closed grip around the white hexagonal block resting on the table adjacent to the wooden assembly base."}, {"label": "goal", "start_step": 1424, "end_step": 1548, "id": "7ff2df28-122a-4a31-815f-8717cbb50f55"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves it upward to a position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the tip of the purple rod, fits the block onto the rod to establish the assembly connection with slight positional adjustments."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: place_release: Right hand slides the white hexagonal block down the purple rod until it rests securely on the stacked blocks below, opens fingers to release the block and break contact."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from above the wooden assembly board toward the left green hexagonal block on the table surface, maintaining a slightly open finger posture throughout the movement."}, {"label": "goal", "start_step": 1549, "end_step": 1623, "id": "44d52459-d3ae-4b3a-aab5-bd29623f0018"}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target left green hexagonal block on the table, fingers gradually close and adjust contact positions to establish a grip on the block."}, {"label": "goal", "start_step": 1624, "end_step": 1723, "id": "ff3aba0e-1e2c-4169-965c-95b7dd7d7a5c"}, {"label": "subtasks", "start_step": 1642, "end_step": 1657, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it onto the rod, assembling the block onto the stand."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the green block placed on the wooden assembly base, breaking contact with the block."}, {"label": "goal", "start_step": 1724, "end_step": 1788, "id": "c5ebe796-624a-4f62-b920-212409020b8c"}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward with empty fingers towards the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward until the block fully leaves the black table surface."}, {"label": "goal", "start_step": 1789, "end_step": 1888, "id": "adb0acc3-d6ef-4d7d-b8ab-415890f6759a"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: transport: Right hand carries the grasped white hexagonal block to move toward the purple post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and lowers the block to fit it onto the post to complete the assembly alignment."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the white block on the stacked block assembly, breaking contact with the block."}, {"label": "goal", "start_step": 1889, "end_step": 1963, "id": "366f038f-4e9d-4b4c-ac48-47342cb74449"}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward from the stacked block area to approach the upper white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1987, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand positions near the upper white hexagonal block, fingers closing to make contact and adjust grip to form a stable grasp."}, {"label": "goal", "start_step": 1964, "end_step": 2183, "id": "5ab16584-e972-43ac-a66a-3cb9f9b72ae4"}, {"label": "subtasks", "start_step": 1988, "end_step": 2001, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, lowering the block to fit it onto the rod to complete the nested assembly."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2152, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release grip on the white hexagonal block fitted on the purple rod, separating fingers from the block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: retreat: Right hand moves empty away from the wooden block stand after releasing the white hexagonal block."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden base and fits the block onto the rod to complete the assembly."}, {"label": "goal", "start_step": 2184, "end_step": 2278, "id": "5d1d6fc2-4356-46a2-be99-1915b26e8d38"}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves empty toward the loose white hexagonal block placed on the table surface next to the green block, approaching the target block without establishing contact."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making slight contact adjustments to form a grasp on the block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 2279, "end_step": 2428, "id": "b0d13d62-2728-4b0e-95eb-fb2d35b3cdf2"}, {"label": "subtasks", "start_step": 2288, "end_step": 2339, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2340, "end_step": 2391, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it onto the existing block stack on the rod."}, {"label": "subtasks", "start_step": 2392, "end_step": 2407, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, which rests stably on the block stack."}, {"label": "subtasks", "start_step": 2408, "end_step": 2414, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: retreat: Right hand moves empty downward and away from the wooden block base."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the green cube on the table surface with fingers spread open."}, {"label": "goal", "start_step": 2429, "end_step": 2458, "id": "a74520d5-b2e1-4c94-a855-803b3005fe01"}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the green cube on the table to form a stable grip, with the cube remaining on the table surface."}, {"label": "goal", "start_step": 2459, "end_step": 2588, "id": "da62ff21-a362-40d4-829e-9b0bf9c6b677"}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and moves it upward and leftward to the position above the empty slot on the wooden block set."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: place_release: Right hand lowers the green cube onto the white cylindrical post on the wooden block set, makes small positional adjustments to align the cube with the post until the cube is stably supported, and opens fingers to separate from the cube."}, {"label": "home", "start_step": 2629, "end_step": 2656, "id": "WRKF5O7NijIyJSbFZ_qTz"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward and leftward from its initial raised position toward the green hexagonal block on the table near the wooden pegboard, with fingers held slightly extended."}, {"label": "subtasks", "start_step": 98, "end_step": 337, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the target green hexagonal block on the table, making fine finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers, or the gripped block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand adjusts its finger positions to establish a stable grasp around the green hexagonal block resting on the black table surface near the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block fully off the black table surface and moves it upward to the position directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 524, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple post, lowering the block slightly to fit it onto the post."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple post until it rests stably on the surface of the wooden assembly base."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward and forward from the block assembly area toward the white hexagonal nut on the table surface, without contacting the nut."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand fingers close around the white hexagonal nut on the table, adjusting finger contact points to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand moves upward while holding the grasped white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand makes small finger adjustments to establish a stable grip on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and transports it upward to the position directly above the target purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple peg, lowers the nut to fit securely onto the peg, opens its fingers to release the fully assembled nut."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from the position near the wooden assembly stand to approach the white hexagonal nut on the black table surface, remaining empty before making contact with the nut."}, {"label": "subtasks", "start_step": 802, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut stays on the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves it upward and forward to position it directly above the empty purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg below, moves the nut downward to fit it onto the peg with small positional adjustments to complete the nesting fit."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted onto the purple peg, separating the hand from the nut."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from above the wooden block set toward the white hexagonal nut placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip, with the nut still resting on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and horizontally to position it directly above the target purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1244, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and adjusts its position to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to fall onto the table surface below."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from above the wooden base toward the white hexagonal nut that fell onto the table near the base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1387, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut on the table surface without observable movement."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to form a stable closed grip around the white hexagonal block resting on the table adjacent to the wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves it upward to a position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the tip of the purple rod, fits the block onto the rod to establish the assembly connection with slight positional adjustments."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: place_release: Right hand slides the white hexagonal block down the purple rod until it rests securely on the stacked blocks below, opens fingers to release the block and break contact."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from above the wooden assembly board toward the left green hexagonal block on the table surface, maintaining a slightly open finger posture throughout the movement."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target left green hexagonal block on the table, fingers gradually close and adjust contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1657, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it onto the rod, assembling the block onto the stand."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the green block placed on the wooden assembly base, breaking contact with the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward with empty fingers towards the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward until the block fully leaves the black table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: transport: Right hand carries the grasped white hexagonal block to move toward the purple post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and lowers the block to fit it onto the post to complete the assembly alignment."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the white block on the stacked block assembly, breaking contact with the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward from the stacked block area to approach the upper white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1987, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand positions near the upper white hexagonal block, fingers closing to make contact and adjust grip to form a stable grasp."}, {"label": "subtasks", "start_step": 1988, "end_step": 2001, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, lowering the block to fit it onto the rod to complete the nested assembly."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2152, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release grip on the white hexagonal block fitted on the purple rod, separating fingers from the block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: retreat: Right hand moves empty away from the wooden block stand after releasing the white hexagonal block."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden base and fits the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves empty toward the loose white hexagonal block placed on the table surface next to the green block, approaching the target block without establishing contact."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making slight contact adjustments to form a grasp on the block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2288, "end_step": 2339, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2340, "end_step": 2391, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it onto the existing block stack on the rod."}, {"label": "subtasks", "start_step": 2392, "end_step": 2407, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, which rests stably on the block stack."}, {"label": "subtasks", "start_step": 2408, "end_step": 2414, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: retreat: Right hand moves empty downward and away from the wooden block base."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the green cube on the table surface with fingers spread open."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the green cube on the table to form a stable grip, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and moves it upward and leftward to the position above the empty slot on the wooden block set."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: place_release: Right hand lowers the green cube onto the white cylindrical post on the wooden block set, makes small positional adjustments to align the cube with the post until the cube is stably supported, and opens fingers to separate from the cube."}], "episode_index": 6}
+{"source_uid": "bf8d9aa2f878b250", "num_frames": 2354, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal part below the left side of the peg board, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "22a782d8-ea61-4e4e-b346-e859e4eda5f3"}, {"label": "valid", "start_step": 0, "end_step": 2327, "id": "UbSjG8T6TOkSpsLkzWzhb"}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "goal", "start_step": 131, "end_step": 225, "id": "3c4b5d11-af3a-4f91-8c51-4655a15d2c46"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it rightward and upward to align with the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost peg of the wooden pegboard, lowering the block to fit its hole onto the peg."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downward along the peg until it rests on the surface of the wooden pegboard."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the green block on the pegboard."}, {"label": "goal", "start_step": 226, "end_step": 325, "id": "56a9e699-f87a-4ce4-9d37-0f529716decb"}, {"label": "subtasks", "start_step": 240, "end_step": 247, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical component onto the purple pegs of the wooden base and releases the component."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the table surface with slight grip adjustments."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table surface without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 326, "end_step": 470, "id": "3cbdfe78-c597-49b6-bf05-2f6130612c32"}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position above the leftmost post of the rack."}, {"label": "subtasks", "start_step": 368, "end_step": 427, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost post of the rack and fits it down onto the post."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the leftmost post of the rack without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table."}, {"label": "goal", "start_step": 471, "end_step": 585, "id": "48b8a05d-536b-4e36-a874-8b4f3eaa0b2b"}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 586, "end_step": 730, "id": "9082712d-ea80-4995-bc2d-32a0fa89f720"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white block onto the purple peg of the stacking toy and releases the block."}, {"label": "goal", "start_step": 731, "end_step": 815, "id": "ef4815a9-c7a2-4320-8991-dd1646bc8283"}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the stacking toy."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the black table without moving."}, {"label": "goal", "start_step": 816, "end_step": 940, "id": "ac888cdc-919c-4e2d-8fc1-4ec8d2b788e7"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hollow hexagonal block from the black table to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block with the purple peg on the wooden base by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hollow cylinder onto the purple rod on the wooden base and releases the cylinder."}, {"label": "goal", "start_step": 941, "end_step": 1010, "id": "dcbe2415-9ad5-441e-a21a-f30d8a5d5349"}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1011, "end_step": 1330, "id": "ef1d1d7c-e2db-4775-a978-5d8cdc501523"}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the middle front purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 1035, "end_step": 1184, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the middle front purple peg and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the peg with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upward from the green block on the pegboard."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the purple rod of the wooden base and releases the piece."}, {"label": "goal", "start_step": 1331, "end_step": 1420, "id": "d3ea6fab-b1a9-485e-9555-6202cb2954f8"}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table with fingers slightly open."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1421, "end_step": 1590, "id": "3e3956b1-c0cd-4e9a-a17b-e9f115809a4c"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1508, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 1591, "end_step": 1675, "id": "cd3f752a-0107-4871-882f-7673ad8a7674"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward towards the upper loose white hexagonal piece on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper loose white hexagonal piece on the table, with fingers closing and adjusting grip."}, {"label": "goal", "start_step": 1676, "end_step": 1785, "id": "fb5f0957-a0a0-4974-962e-512470c290b2"}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal piece with the purple rod and lowers it to mate the piece onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1807, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal piece, with fingers opening and separating from the piece."}, {"label": "goal", "start_step": 1786, "end_step": 2010, "id": "427947c7-0105-4c27-86fa-9185a09c34ef"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block back onto the table and releases it."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table surface again."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand briefly grasps the white hexagonal block and then releases it."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand slowly approaches the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block from the lower right area of the table to the position above the purple rod on the wooden board."}, {"label": "goal", "start_step": 2011, "end_step": 2130, "id": "abc990a9-a569-43ec-b76e-c0098151c8fd"}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block with the purple rod by aligning and inserting it onto the rod, then releases the block."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position above the wooden block rack toward the green cubic block on the black tabletop."}, {"label": "goal", "start_step": 2131, "end_step": 2200, "id": "c379f2d6-d44c-4779-8470-55dbd1d6892b"}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the tabletop, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2201, "end_step": 2285, "id": "256c175a-9000-40cd-a95a-76214b9a6601"}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the tabletop and transports it to the position above the front-right white post on the wooden rack."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the hole of the green cubic block with the front-right white post on the wooden rack, fits the block onto the post, and releases the block."}, {"label": "home", "start_step": 2328, "end_step": 2353, "id": "7SuaViLIhB506vprkYUuz"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal part below the left side of the peg board, with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it rightward and upward to align with the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost peg of the wooden pegboard, lowering the block to fit its hole onto the peg."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downward along the peg until it rests on the surface of the wooden pegboard."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the green block on the pegboard."}, {"label": "subtasks", "start_step": 240, "end_step": 247, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical component onto the purple pegs of the wooden base and releases the component."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the table surface with slight grip adjustments."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table surface without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position above the leftmost post of the rack."}, {"label": "subtasks", "start_step": 368, "end_step": 427, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost post of the rack and fits it down onto the post."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the leftmost post of the rack without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white block onto the purple peg of the stacking toy and releases the block."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the stacking toy."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hollow hexagonal block from the black table to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block with the purple peg on the wooden base by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hollow cylinder onto the purple rod on the wooden base and releases the cylinder."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the middle front purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 1035, "end_step": 1184, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the middle front purple peg and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the peg with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upward from the green block on the pegboard."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the purple rod of the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table with fingers slightly open."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1508, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward towards the upper loose white hexagonal piece on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper loose white hexagonal piece on the table, with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal piece with the purple rod and lowers it to mate the piece onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1807, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal piece, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block back onto the table and releases it."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table surface again."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand briefly grasps the white hexagonal block and then releases it."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand slowly approaches the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block from the lower right area of the table to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block with the purple rod by aligning and inserting it onto the rod, then releases the block."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position above the wooden block rack toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the tabletop, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the tabletop and transports it to the position above the front-right white post on the wooden rack."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the hole of the green cubic block with the front-right white post on the wooden rack, fits the block onto the post, and releases the block."}], "episode_index": 7}
+{"source_uid": "2c2a592095a010e1", "num_frames": 2264, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves forward from the right side towards the green hexagonal block in front of the wooden base, no contact with the block during movement."}, {"label": "goal", "start_step": 0, "end_step": 165, "id": "cb1e58ec-458d-42a0-bb39-7d1c8df13618"}, {"label": "valid", "start_step": 0, "end_step": 2234, "id": "7n9IErtoT5E4e2CCZOg5o"}, {"label": "subtasks", "start_step": 82, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand touches the green hexagonal block, closes fingers and adjusts hand position slightly to form a stable grasp on the block."}, {"label": "goal", "start_step": 166, "end_step": 320, "id": "181af6d9-6554-4f9d-8e99-c3f1ff07beed"}, {"label": "subtasks", "start_step": 188, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green block from the black table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand fits the green block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white block on top of the purple peg."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place: Right hand places the white block onto the green block on the purple peg."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the wooden base area towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 321, "end_step": 425, "id": "1d13010a-a360-498b-9ec2-dd0c49e5b7b7"}, {"label": "subtasks", "start_step": 345, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the black table."}, {"label": "goal", "start_step": 426, "end_step": 560, "id": "bec62acd-5808-44c9-945e-c87af09e4811"}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to above the leftmost purple rod of the rack."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block that has been placed on the purple rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 561, "end_step": 655, "id": "0fea1d0a-505c-41f1-9675-bf1cc7e6317e"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 656, "end_step": 825, "id": "2acf0419-4c4b-4c79-a2a7-7713f0660c47"}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block inserted on the purple rod without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 826, "end_step": 910, "id": "ac57076a-d2f3-400d-9571-b8e76b124054"}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical block just mated on the purple rod."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 911, "end_step": 1040, "id": "9307cedf-f72b-4d4b-9247-837a16c2f169"}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the white hexagonal block upwards until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack, moving it to the position right above the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod and adjusting to fit."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place: Right hand places the white cylindrical block onto the peg on the wooden base."}, {"label": "goal", "start_step": 1041, "end_step": 1125, "id": "b7c13cdc-79bd-44ff-84d0-99e800d3167a"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green square block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand contacts the green square block, fingers close and adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 1126, "end_step": 1230, "id": "2b3d5d21-2688-4437-8293-127af7d42a91"}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the green cubic block above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the green cubic block onto the purple rod, pressing it down to fit onto the wooden base."}, {"label": "goal", "start_step": 1231, "end_step": 1315, "id": "f4db9500-6dce-4262-9602-cb30bdc8dad0"}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches toward the white ring block on the table near the green block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white ring block on the table."}, {"label": "goal", "start_step": 1316, "end_step": 1450, "id": "bee9f8bf-4e40-4d9c-b11d-dc76c5e60be5"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats upwards away from the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1451, "end_step": 1520, "id": "1dcae019-0e89-4d55-97bb-f6a008ec64cf"}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downwards towards the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1521, "end_step": 1645, "id": "95c29cb6-db61-4f48-a955-474d04a0165e"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1646, "end_step": 1705, "id": "c9b53b5b-2dc4-4887-9364-3ce6a02060d9"}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hex block on the table surface."}, {"label": "goal", "start_step": 1706, "end_step": 1830, "id": "07725435-b3e2-481d-b8ed-6a9d0bf735d5"}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hex block on the table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hex block from the table and transports it to above the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hex block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hex block after it is fitted onto the purple rod."}, {"label": "goal", "start_step": 1831, "end_step": 1995, "id": "c1b9bfb7-4339-45f8-a043-0208b4fae88a"}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press_release: Right hand presses the white cylindrical block on the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1890, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green cubic block on the tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reorient: Right hand rotates the green cubic block slightly on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green cubic block upward off the black tabletop."}, {"label": "goal", "start_step": 1996, "end_step": 2175, "id": "cace13f7-5fd3-48bd-a4c0-f2263e4e6d79"}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the green ring towards the white bottles on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green ring with the top of the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the green ring down onto the white bottle until it is properly fitted."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green ring and separates from the bottle."}, {"label": "home", "start_step": 2235, "end_step": 2263, "id": "Cz84JGNlFOGnx8lsWD9_t"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves forward from the right side towards the green hexagonal block in front of the wooden base, no contact with the block during movement."}, {"label": "subtasks", "start_step": 82, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand touches the green hexagonal block, closes fingers and adjusts hand position slightly to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 188, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green block from the black table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand fits the green block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white block on top of the purple peg."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place: Right hand places the white block onto the green block on the purple peg."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the wooden base area towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 345, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to above the leftmost purple rod of the rack."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block that has been placed on the purple rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block inserted on the purple rod without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical block just mated on the purple rod."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the white hexagonal block upwards until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack, moving it to the position right above the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod and adjusting to fit."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place: Right hand places the white cylindrical block onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green square block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand contacts the green square block, fingers close and adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the green cubic block above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the green cubic block onto the purple rod, pressing it down to fit onto the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches toward the white ring block on the table near the green block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white ring block on the table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats upwards away from the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downwards towards the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hex block on the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hex block on the table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hex block from the table and transports it to above the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hex block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hex block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press_release: Right hand presses the white cylindrical block on the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1890, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green cubic block on the tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reorient: Right hand rotates the green cubic block slightly on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green cubic block upward off the black tabletop."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the green ring towards the white bottles on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green ring with the top of the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the green ring down onto the white bottle until it is properly fitted."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green ring and separates from the bottle."}], "episode_index": 8}
+{"source_uid": "0573761851a47485", "num_frames": 1943, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves from its initial raised position on the right toward the area adjacent to the light brown wooden base, staying empty as it approaches the target objects."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "a1d653fb-795f-42cc-8f7b-28db0d3c4edb"}, {"label": "valid", "start_step": 0, "end_step": 1914, "id": "vv9omi2TihVjwXWYB6MD8"}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand positions close to the green hexagonal block near the wooden base, closing fingers and making small wrist and finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand holds the green hexagonal block on the table surface, lifts it upward completely off the table, and transports it to the position directly above the purple assembly peg on the wooden base."}, {"label": "goal", "start_step": 136, "end_step": 245, "id": "5e795c3c-c211-4ed2-bdba-07cc67bfc046"}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand adjusts the position of the green hexagonal block slightly, aligns its central hole with the purple peg and fits the hole onto the top of the peg to establish the assembly alignment."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg, and places it steadily onto the top surface of the lower green block fixed on the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from the area near the wooden block stand toward the white hexagonal nut placed on the table surface in front of the stand, with no contact to the target nut yet."}, {"label": "goal", "start_step": 246, "end_step": 340, "id": "f58655b6-1c8d-47ba-95aa-98507bc1c3de"}, {"label": "subtasks", "start_step": 278, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions and gradually closes fingers around the target white hexagonal nut on the table to establish a stable grasp, with the nut remaining resting on the table surface throughout the movement."}, {"label": "goal", "start_step": 341, "end_step": 455, "id": "47f093d6-0656-4929-a917-db9af989c863"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple peg, making slight position adjustments to fit the nut onto the top of the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut partially fitted on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg, placing it onto the lower white nut on the peg until the nut is stably supported."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward and forward with an empty open hand, approaching the white hexagonal nut on the black table surface without making contact."}, {"label": "goal", "start_step": 456, "end_step": 530, "id": "8e47b7dd-9407-47b0-86ed-8ce37d726bd6"}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, gradually closing fingers and adjusting hand position to form a grip around the nut."}, {"label": "goal", "start_step": 531, "end_step": 675, "id": "25622c1e-7aa6-431c-afb1-e90cce06a91b"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, and lowers the nut to fit onto the rod to complete assembly alignment."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod of the wooden assembly stand without any observable movement."}, {"label": "subtasks", "start_step": 675, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from above the wooden assembly base toward the white hexagonal block resting on the table in front of the base, with fingers held in an open posture as it approaches the block."}, {"label": "goal", "start_step": 676, "end_step": 740, "id": "440b3501-6b96-4689-9d4a-2941eb8cb3e2"}, {"label": "goal", "start_step": 741, "end_step": 855, "id": "ab7b716d-a89f-471b-8b85-1c69f999684f"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block, adjusting finger contact to form a stable grip on the block while the block remains on the table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving the block upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple peg, moving the block slightly downward to fit onto the peg."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place_release: Right hand lowers the white hexagonal block down onto the wooden base surface, opening its fingers to release the block and separate the hand from the block."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from the position above the wooden stacking toy toward the green hexagonal nut resting on the black table surface, without making contact with the nut."}, {"label": "goal", "start_step": 856, "end_step": 915, "id": "18746f0b-28f2-46da-9d11-a89a8da5b28f"}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table to establish a stable grip."}, {"label": "goal", "start_step": 916, "end_step": 1030, "id": "3093a815-9823-4316-80be-114117efd032"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and transports it upward to the position directly above the empty purple rod on the wooden stacking base."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the top of the purple rod, and fits the nut onto the rod to form an assembly connection."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand moves the green hexagonal nut downward along the purple rod until the nut rests stably on the supporting white block on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downwards from the area above the wooden block base toward the white hexagonal nut resting on the dark table surface, with fingers extended in preparation for grasping."}, {"label": "goal", "start_step": 1031, "end_step": 1085, "id": "43a4e0c2-e65f-4545-b49d-4258ce786037"}, {"label": "subtasks", "start_step": 1058, "end_step": 1101, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, adjusting finger positions slightly to form a stable grip on the nut while the nut remains supported by the table."}, {"label": "goal", "start_step": 1086, "end_step": 1250, "id": "4eed5d80-c024-484f-bd6b-7e6662b080b2"}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark table surface, then moves the nut upwards and toward the purple vertical peg mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple vertical peg on the wooden base, lowering the nut onto the peg and making small positional adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the green base of the wooden stand, separating from the block."}, {"label": "goal", "start_step": 1251, "end_step": 1330, "id": "a5f27e5f-beed-47bd-84e3-b70439595a89"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block placed on the black table next to the wooden stand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table, adjusting finger positions to form a grip on the block."}, {"label": "goal", "start_step": 1331, "end_step": 1445, "id": "6b082e82-5a0a-42a9-a537-c316a9333cfc"}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the small wooden piece, moving it upward and leftward to the position above the empty slot on the wooden block set."}, {"label": "subtasks", "start_step": 1402, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand lowers the white hexagonal block downward, setting it into the empty slot on the wooden block set until the block is fully supported by the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from the area near the wooden block base toward the white hexagonal block on the table surface, making no contact with the block."}, {"label": "goal", "start_step": 1446, "end_step": 1495, "id": "7cd3b421-7507-4843-8e22-04fba667089d"}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1496, "end_step": 1680, "id": "49a5292c-cc45-40e1-ab2a-50ddf951f8c1"}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to a position directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top end of the purple vertical rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1641, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without any movement, keeping the block at the upper portion of the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple vertical rod until the block rests on the wooden base, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface, with fingers slightly open as it approaches the target."}, {"label": "goal", "start_step": 1681, "end_step": 1740, "id": "40dbedbc-0334-45ac-9bcc-108bbccf89e1"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to establish a stable grip on the object."}, {"label": "goal", "start_step": 1741, "end_step": 1860, "id": "3f2b534b-ac12-47b0-85b2-482f9f54e97b"}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: transport: Right hand carries the green cube upward and leftward to position it directly above the top of the rightmost white bottle on the wooden holder."}, {"label": "subtasks", "start_step": 1808, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the green cube with the top of the white bottle and lowers the cube to fit it snugly onto the bottle top."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: release: Right hand opens its fingers to release the green cube fitted on the bottle top, separating the hand from the placed cube."}, {"label": "home", "start_step": 1915, "end_step": 1942, "id": "xWepIsAJ9W-_0mZpRIXW4"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves from its initial raised position on the right toward the area adjacent to the light brown wooden base, staying empty as it approaches the target objects."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand positions close to the green hexagonal block near the wooden base, closing fingers and making small wrist and finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand holds the green hexagonal block on the table surface, lifts it upward completely off the table, and transports it to the position directly above the purple assembly peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand adjusts the position of the green hexagonal block slightly, aligns its central hole with the purple peg and fits the hole onto the top of the peg to establish the assembly alignment."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg, and places it steadily onto the top surface of the lower green block fixed on the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from the area near the wooden block stand toward the white hexagonal nut placed on the table surface in front of the stand, with no contact to the target nut yet."}, {"label": "subtasks", "start_step": 278, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions and gradually closes fingers around the target white hexagonal nut on the table to establish a stable grasp, with the nut remaining resting on the table surface throughout the movement."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple peg, making slight position adjustments to fit the nut onto the top of the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut partially fitted on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg, placing it onto the lower white nut on the peg until the nut is stably supported."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward and forward with an empty open hand, approaching the white hexagonal nut on the black table surface without making contact."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, gradually closing fingers and adjusting hand position to form a grip around the nut."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, and lowers the nut to fit onto the rod to complete assembly alignment."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod of the wooden assembly stand without any observable movement."}, {"label": "subtasks", "start_step": 675, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from above the wooden assembly base toward the white hexagonal block resting on the table in front of the base, with fingers held in an open posture as it approaches the block."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block, adjusting finger contact to form a stable grip on the block while the block remains on the table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving the block upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple peg, moving the block slightly downward to fit onto the peg."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place_release: Right hand lowers the white hexagonal block down onto the wooden base surface, opening its fingers to release the block and separate the hand from the block."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from the position above the wooden stacking toy toward the green hexagonal nut resting on the black table surface, without making contact with the nut."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and transports it upward to the position directly above the empty purple rod on the wooden stacking base."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the top of the purple rod, and fits the nut onto the rod to form an assembly connection."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand moves the green hexagonal nut downward along the purple rod until the nut rests stably on the supporting white block on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downwards from the area above the wooden block base toward the white hexagonal nut resting on the dark table surface, with fingers extended in preparation for grasping."}, {"label": "subtasks", "start_step": 1058, "end_step": 1101, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, adjusting finger positions slightly to form a stable grip on the nut while the nut remains supported by the table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark table surface, then moves the nut upwards and toward the purple vertical peg mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple vertical peg on the wooden base, lowering the nut onto the peg and making small positional adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the green base of the wooden stand, separating from the block."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block placed on the black table next to the wooden stand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table, adjusting finger positions to form a grip on the block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the small wooden piece, moving it upward and leftward to the position above the empty slot on the wooden block set."}, {"label": "subtasks", "start_step": 1402, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand lowers the white hexagonal block downward, setting it into the empty slot on the wooden block set until the block is fully supported by the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from the area near the wooden block base toward the white hexagonal block on the table surface, making no contact with the block."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to a position directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top end of the purple vertical rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1641, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without any movement, keeping the block at the upper portion of the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple vertical rod until the block rests on the wooden base, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface, with fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to establish a stable grip on the object."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: transport: Right hand carries the green cube upward and leftward to position it directly above the top of the rightmost white bottle on the wooden holder."}, {"label": "subtasks", "start_step": 1808, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the green cube with the top of the white bottle and lowers the cube to fit it snugly onto the bottle top."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: release: Right hand opens its fingers to release the green cube fitted on the bottle top, separating the hand from the placed cube."}], "episode_index": 9}
+{"source_uid": "a80704da6b83871f", "num_frames": 2466, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 14, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture from upright closed position to open position at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal object on the table in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "34592d2f-1d36-45d8-bde0-e3075864b68c"}, {"label": "valid", "start_step": 0, "end_step": 2435, "id": "GK6uY_YsTDj_7sW8f9T77"}, {"label": "subtasks", "start_step": 15, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal object on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal object on the table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the green hexagonal object upward off the table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand carries the green hexagonal object upward to align with the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand fits the green hexagonal object onto the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases its grasp from the green hexagonal object on the purple rod."}, {"label": "goal", "start_step": 151, "end_step": 290, "id": "3c7da680-110a-4c0b-ab64-2df5dfc78217"}, {"label": "subtasks", "start_step": 165, "end_step": 171, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and moves it to the position above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 188, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost peg to adjust its position."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white-capped purple rod components on the wooden rack."}, {"label": "goal", "start_step": 291, "end_step": 940, "id": "68621da7-90ab-48af-82fd-a583f72c2bcf"}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 405, "end_step": 457, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}, {"label": "subtasks", "start_step": 458, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates and slightly moves the white hexagonal block on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 548, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: push: Right hand pushes the white hexagonal block leftward across the tabletop."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, with fingers separating from the block."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward to approach the white hexagonal block near the left hand."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block again, adjusting finger positions to stabilize the grip."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 788, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}, {"label": "subtasks", "start_step": 848, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 941, "end_step": 1080, "id": "43d80fbf-4030-4d69-b51b-6d1bf42ed66e"}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 982, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the rack, sliding it down along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1081, "end_step": 1170, "id": "c2fbe94d-7cc0-4016-9061-3d6c335f31aa"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward and leftward toward the white hexagonal block on the lower left of the table, with the hand remaining empty."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower left of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the black table."}, {"label": "goal", "start_step": 1171, "end_step": 1335, "id": "8c484afb-b37a-47d8-97b6-d371f2e2a1c2"}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1297, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach_grasp: Right hand reaches toward the lower white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1336, "end_step": 1370, "id": "82e37ad7-6352-43dd-a231-f4ab4950a358"}, {"label": "goal", "start_step": 1371, "end_step": 1480, "id": "fd4fcb42-e1a7-4278-8434-2eb64ae0cacf"}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the front-right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the front-right purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place_release: Right hand places the white hollow hexagonal block onto the purple peg of the wooden base, releasing it upon placement."}, {"label": "goal", "start_step": 1481, "end_step": 1550, "id": "2f063c82-454e-4ae8-b5d6-a716bc81695c"}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to reach toward the green hollow hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1551, "end_step": 1675, "id": "8035a02b-91e1-499a-9073-cab40491ad6d"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod by lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1676, "end_step": 1755, "id": "051931b3-0d57-4ba0-ad5c-98f263e7b4ba"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1756, "end_step": 1885, "id": "a522c241-6579-4b1c-8d58-759537a70526"}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden board and moves downward to fit the piece onto the rod."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal piece on the purple rod and retreats slightly upward away from the piece."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part on the right side of the wooden tray, with fingers opening and separating from the part."}, {"label": "goal", "start_step": 1886, "end_step": 1940, "id": "4d401569-b760-48db-a7f4-5b15c9704d60"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves empty toward the upper white hexagonal hollow part on the black table."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the upper white hexagonal hollow part on the table, with fingers closing and adjusting grip posture."}, {"label": "goal", "start_step": 1941, "end_step": 2060, "id": "e647ef49-fff2-43e1-a7c8-11e7b78e9393"}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the table and transports it to above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal hollow part with the purple rod and inserts it onto the rod to form an assembly relationship."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal hollow part along the purple rod until it is stably supported by the wooden tray."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal hollow part, with fingers fully opening and separating from the part."}, {"label": "goal", "start_step": 2061, "end_step": 2120, "id": "af38b6da-88fb-4a77-aaaa-6a893b46b469"}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward and rightward from the area near the purple rod to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2092, "end_step": 2129, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2121, "end_step": 2225, "id": "0c043c3b-5f72-4205-be0c-86d98b08ae23"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white bottle with a purple top on the wooden rack, fingers opening to separate from the bottle."}, {"label": "goal", "start_step": 2226, "end_step": 2295, "id": "fd1107a6-4a0b-4fb8-aa37-9871750af053"}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green perforated block on the black table without moving."}, {"label": "goal", "start_step": 2296, "end_step": 2395, "id": "5bf1d6ed-a26c-455b-8a02-82a41a896b76"}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green perforated block off the table and transports it toward the rightmost white pillar with a purple top on the wooden base."}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green perforated block with the rightmost white pillar and fits it downward onto the pillar to complete assembly."}, {"label": "subtasks", "start_step": 2378, "end_step": 2399, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the green perforated block by opening its fingers, fully separating from the block."}, {"label": "home", "start_step": 2436, "end_step": 2465, "id": "JnUWCaLfsjTbtVWUEewY9"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 14, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture from upright closed position to open position at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal object on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 15, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal object on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal object on the table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the green hexagonal object upward off the table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand carries the green hexagonal object upward to align with the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand fits the green hexagonal object onto the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases its grasp from the green hexagonal object on the purple rod."}, {"label": "subtasks", "start_step": 165, "end_step": 171, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and moves it to the position above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 188, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost peg to adjust its position."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white-capped purple rod components on the wooden rack."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 405, "end_step": 457, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}, {"label": "subtasks", "start_step": 458, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates and slightly moves the white hexagonal block on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 548, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: push: Right hand pushes the white hexagonal block leftward across the tabletop."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, with fingers separating from the block."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward to approach the white hexagonal block near the left hand."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block again, adjusting finger positions to stabilize the grip."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 788, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}, {"label": "subtasks", "start_step": 848, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 982, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the rack, sliding it down along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward and leftward toward the white hexagonal block on the lower left of the table, with the hand remaining empty."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower left of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the black table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1297, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach_grasp: Right hand reaches toward the lower white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the front-right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the front-right purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place_release: Right hand places the white hollow hexagonal block onto the purple peg of the wooden base, releasing it upon placement."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to reach toward the green hollow hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod by lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden board and moves downward to fit the piece onto the rod."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal piece on the purple rod and retreats slightly upward away from the piece."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part on the right side of the wooden tray, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves empty toward the upper white hexagonal hollow part on the black table."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the upper white hexagonal hollow part on the table, with fingers closing and adjusting grip posture."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the table and transports it to above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal hollow part with the purple rod and inserts it onto the rod to form an assembly relationship."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal hollow part along the purple rod until it is stably supported by the wooden tray."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal hollow part, with fingers fully opening and separating from the part."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward and rightward from the area near the purple rod to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2092, "end_step": 2129, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white bottle with a purple top on the wooden rack, fingers opening to separate from the bottle."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green perforated block on the black table without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green perforated block off the table and transports it toward the rightmost white pillar with a purple top on the wooden base."}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green perforated block with the rightmost white pillar and fits it downward onto the pillar to complete assembly."}, {"label": "subtasks", "start_step": 2378, "end_step": 2399, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the green perforated block by opening its fingers, fully separating from the block."}], "episode_index": 10}
+{"source_uid": "618dc615f03e137e", "num_frames": 2164, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "424c6efc-33ff-4ad4-b2d2-cb145cc09b77"}, {"label": "valid", "start_step": 0, "end_step": 2136, "id": "dB6fETQct_xQsgNpRzZDN"}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 126, "end_step": 255, "id": "78dc0c8d-6d53-4b5f-8ec5-6f57ef6df123"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it towards the target purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_press: Right hand aligns the green cube with the purple pillar and presses it down along the pillar until it reaches the base."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 256, "end_step": 325, "id": "4a98bda1-fac7-4913-9091-89702daa199f"}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form stable grip."}, {"label": "goal", "start_step": 326, "end_step": 465, "id": "962cbeeb-abd1-4e07-9ee7-2163f6018001"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upwards until it is completely off the table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block upwards and towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the peg."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 466, "end_step": 540, "id": "f62c2a38-d3ad-4d71-b03c-f7b804d95a97"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block located on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it towards the wooden rack with purple rods."}, {"label": "goal", "start_step": 541, "end_step": 705, "id": "ce40b74e-4c81-430e-9dfc-5073dbeab1ce"}, {"label": "subtasks", "start_step": 570, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats from the wooden rack after inserting the white hexagonal block."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table next to the wooden rack, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 706, "end_step": 740, "id": "83eac4a6-5aa6-4336-aebd-615db980aa5b"}, {"label": "goal", "start_step": 741, "end_step": 850, "id": "7281e24d-86a1-4a20-a7cd-d83112c3c47c"}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 772, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, places it onto the rod, then releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple post on the wooden base."}, {"label": "goal", "start_step": 851, "end_step": 910, "id": "0bfcf26d-89d5-46ae-8983-15ab2c71cf1c"}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green ring on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green ring on the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it toward the wooden base."}, {"label": "goal", "start_step": 911, "end_step": 1075, "id": "3ea15e04-b7c2-4ee6-b4f8-c518ff5128c4"}, {"label": "subtasks", "start_step": 938, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green ring onto the purple post on the wooden base."}, {"label": "goal", "start_step": 1076, "end_step": 1150, "id": "ea3c2595-2aa1-468d-a139-0eeff699425e"}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1151, "end_step": 1250, "id": "6e97d382-3a00-40d3-a499-087d684499e0"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block stacked on the wooden base."}, {"label": "goal", "start_step": 1251, "end_step": 1320, "id": "2f60c5c8-fc51-4fdb-a729-2538da9e138f"}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "goal", "start_step": 1321, "end_step": 1660, "id": "0e259c9e-3ba7-4f65-807b-d8bf31d5b3ab"}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the light brown wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1559, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it downwards onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block mounted on the purple rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block downwards along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the dark tabletop."}, {"label": "goal", "start_step": 1661, "end_step": 1750, "id": "469c77ae-d2f2-480a-8e88-83a2e8248ac0"}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "goal", "start_step": 1751, "end_step": 1855, "id": "4487ac43-c930-429b-9dc7-0e4649c58fc9"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple peg and fits it onto the peg to complete assembly."}, {"label": "goal", "start_step": 1856, "end_step": 1925, "id": "571993b7-0f2c-47af-af57-8c5c3406ff34"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green square block on the table."}, {"label": "goal", "start_step": 1926, "end_step": 2080, "id": "d7ee1732-d803-43b7-a8c9-280f8d57d5ee"}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hollow square block from the table and transports it to above the white bottle with a purple protruding rod on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hollow square block with the purple rod of the white bottle and lowers the block to mate it onto the bottle."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green hollow square block that is fitted on the white bottle."}, {"label": "home", "start_step": 2137, "end_step": 2163, "id": "w73dfHCtFap6D-xQXOOii"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed in front of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it towards the target purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_press: Right hand aligns the green cube with the purple pillar and presses it down along the pillar until it reaches the base."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upwards until it is completely off the table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block upwards and towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the peg."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block located on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 570, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats from the wooden rack after inserting the white hexagonal block."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table next to the wooden rack, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 772, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, places it onto the rod, then releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green ring on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green ring on the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green ring onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block stacked on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the light brown wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1559, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it downwards onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block mounted on the purple rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block downwards along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the dark tabletop."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green square block on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hollow square block from the table and transports it to above the white bottle with a purple protruding rod on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hollow square block with the purple rod of the white bottle and lowers the block to mate it onto the bottle."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green hollow square block that is fitted on the white bottle."}], "episode_index": 11}
+{"source_uid": "d985788bf2cfb9da", "num_frames": 1883, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: idle: Right hand remains empty at the right side of the home position without obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "cc433ce8-fb2b-43f9-9904-594b436223e4"}, {"label": "valid", "start_step": 0, "end_step": 1848, "id": "ehy8EpsZkikbHescK_1vO"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves leftward toward the green hexagonal block near the wooden base, with fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making small positional adjustments of the wrist and fingers to establish a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand adjusts finger position and closes fingers to grasp the green hexagonal block resting on the table in front of the wooden assembly base."}, {"label": "goal", "start_step": 151, "end_step": 260, "id": "2d085d7d-31ca-41b7-94f9-658bbc4df705"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface, moves it upward and toward the wooden base to position it directly above the leftmost purple rod."}, {"label": "subtasks", "start_step": 195, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the leftmost purple rod, sliding the block down the rod to fit it onto the assembly."}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the assembled green hexagonal block on the purple rod."}, {"label": "goal", "start_step": 261, "end_step": 320, "id": "54e72ac6-a423-47ba-a9c7-efee196afb0b"}, {"label": "subtasks", "start_step": 262, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward and forward from its position above the wooden peg board toward the white hexagonal nut on the black table surface, keeping fingers open during the approach."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to finger positions to establish a stable grip on the nut as it rests on the table."}, {"label": "goal", "start_step": 321, "end_step": 435, "id": "015c7df2-d1fa-4462-9136-eef9627b47a2"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, fully separating the nut from the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut back toward the wooden peg board, moving the nut to the position directly above the empty purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowers the nut to fit it securely onto the peg, and opens its fingers to release the nut now supported by the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper assembly area toward the white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 436, "end_step": 505, "id": "9e685ddb-4ba4-4f03-b136-3d68aafb5b91"}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor grip adjustments to secure the object while it remains on the table."}, {"label": "goal", "start_step": 506, "end_step": 640, "id": "cffd1ece-c506-4c60-8dd9-7f9a2263030d"}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the secured white hexagonal nut fully off the table surface and transports it upward toward the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit onto the peg, establishing the assembled connection."}, {"label": "subtasks", "start_step": 622, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple peg without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it to fit onto the purple peg on the wooden stand, and opens fingers to release the stably supported block."}, {"label": "goal", "start_step": 641, "end_step": 710, "id": "5f24c46d-5a26-4ab8-998e-2a01d5723708"}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut placed on the table in front of the wooden stand, approaching the target nut."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making fine adjustments to form a stable grip."}, {"label": "goal", "start_step": 711, "end_step": 870, "id": "52730b18-3c46-4dc5-89a0-2e52c7f958f2"}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: place_release: Right hand lowers the white hexagonal block downward to place it onto the empty purple peg, aligning the block's hole with the peg until the block rests stably on the peg, opening fingers to release the block."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: retreat: Right hand moves empty downward away from the placed white block on the purple peg."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the table surface near the front edge of the wooden base, approaching the block without yet establishing contact."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the green hexagonal block upward off the black table surface with a stable grip."}, {"label": "goal", "start_step": 871, "end_step": 875, "id": "6d8328cf-bb61-48fa-bba7-a33667285bf0"}, {"label": "goal", "start_step": 876, "end_step": 960, "id": "a09235e5-1476-4df4-aa4f-f4c3d9427995"}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand transports the lifted green hexagonal block rightward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: idle: Right hand remains empty above the wooden block stack without observable movement."}, {"label": "goal", "start_step": 961, "end_step": 1030, "id": "771223b9-2e4d-41f8-a65b-848fd752adc8"}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward with empty fingers toward the white hexagonal nut placed on the dark table surface next to the green block."}, {"label": "subtasks", "start_step": 1012, "end_step": 1041, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact points to form a stable grasp."}, {"label": "goal", "start_step": 1031, "end_step": 1130, "id": "1ce6b395-e526-4186-92a7-5d4721ccfb06"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, then lowers the nut to fit it onto the rod and seat it on the stacked block below."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens fingers to release the seated white hexagonal nut, breaking contact with the nut on the rod."}, {"label": "goal", "start_step": 1131, "end_step": 1210, "id": "5b45e4ee-aca4-4ed0-8f08-e28fee556bc1"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand, kept empty, moves downward and rightward from the area above the stacked white and green blocks toward the small white hexagonal part near the right side of the wooden base, knocking over the purple vertical stick during movement, with fingers remaining open."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal part on the table to establish a grasp, with the wrist remaining nearly stationary."}, {"label": "goal", "start_step": 1211, "end_step": 1325, "id": "b20e5ac4-a72d-429b-9499-6a480ac5f1ec"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward and leftward toward the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden holder, makes slight rotational and positional adjustments, and inserts the block into the slot to fit securely with the base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1327, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the fully inserted white hexagonal block from its grasp."}, {"label": "goal", "start_step": 1326, "end_step": 1380, "id": "76fb7e98-46f6-4d42-8c14-8b191ed4cdf7"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper right position next to the block stack, approaching the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table."}, {"label": "goal", "start_step": 1381, "end_step": 1590, "id": "822314cd-3bfe-44bc-80ec-f5c6b9f864f6"}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air, moving it to the position directly above the purple cylindrical post on the block stack."}, {"label": "subtasks", "start_step": 1432, "end_step": 1544, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple cylindrical post, then moves the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut as the nut slides down the purple post."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: idle: Right hand remains empty next to the top of the purple post without obvious large displacement."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward and rightward toward the small green cube on the table with open fingers, making no contact with the cube."}, {"label": "goal", "start_step": 1591, "end_step": 1655, "id": "ecc700ab-f2e7-45d0-9757-19125385d750"}, {"label": "subtasks", "start_step": 1642, "end_step": 1657, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the small green cube resting on the table to form a stable grasp."}, {"label": "goal", "start_step": 1656, "end_step": 1800, "id": "401dea3b-17e7-4e69-be5c-3768c4252436"}, {"label": "subtasks", "start_step": 1658, "end_step": 1671, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand carries the green cube upward and leftward to the position directly above the purple post on the stacked block assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1791, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand adjusts the orientation and position of the green cube to align its central hole with the purple post, fitting the cube onto the post."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green cube secured on the purple post, separating the hand from the cube."}, {"label": "home", "start_step": 1849, "end_step": 1882, "id": "yuAybA0icqYGGbfZIf4Re"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: idle: Right hand remains empty at the right side of the home position without obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves leftward toward the green hexagonal block near the wooden base, with fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making small positional adjustments of the wrist and fingers to establish a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand adjusts finger position and closes fingers to grasp the green hexagonal block resting on the table in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface, moves it upward and toward the wooden base to position it directly above the leftmost purple rod."}, {"label": "subtasks", "start_step": 195, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the leftmost purple rod, sliding the block down the rod to fit it onto the assembly."}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the assembled green hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 262, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward and forward from its position above the wooden peg board toward the white hexagonal nut on the black table surface, keeping fingers open during the approach."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to finger positions to establish a stable grip on the nut as it rests on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, fully separating the nut from the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut back toward the wooden peg board, moving the nut to the position directly above the empty purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowers the nut to fit it securely onto the peg, and opens its fingers to release the nut now supported by the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper assembly area toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor grip adjustments to secure the object while it remains on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the secured white hexagonal nut fully off the table surface and transports it upward toward the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit onto the peg, establishing the assembled connection."}, {"label": "subtasks", "start_step": 622, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple peg without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it to fit onto the purple peg on the wooden stand, and opens fingers to release the stably supported block."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut placed on the table in front of the wooden stand, approaching the target nut."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making fine adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: place_release: Right hand lowers the white hexagonal block downward to place it onto the empty purple peg, aligning the block's hole with the peg until the block rests stably on the peg, opening fingers to release the block."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: retreat: Right hand moves empty downward away from the placed white block on the purple peg."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the table surface near the front edge of the wooden base, approaching the block without yet establishing contact."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the green hexagonal block upward off the black table surface with a stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand transports the lifted green hexagonal block rightward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: idle: Right hand remains empty above the wooden block stack without observable movement."}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward with empty fingers toward the white hexagonal nut placed on the dark table surface next to the green block."}, {"label": "subtasks", "start_step": 1012, "end_step": 1041, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact points to form a stable grasp."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, then lowers the nut to fit it onto the rod and seat it on the stacked block below."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens fingers to release the seated white hexagonal nut, breaking contact with the nut on the rod."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand, kept empty, moves downward and rightward from the area above the stacked white and green blocks toward the small white hexagonal part near the right side of the wooden base, knocking over the purple vertical stick during movement, with fingers remaining open."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal part on the table to establish a grasp, with the wrist remaining nearly stationary."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward and leftward toward the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden holder, makes slight rotational and positional adjustments, and inserts the block into the slot to fit securely with the base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1327, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the fully inserted white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper right position next to the block stack, approaching the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air, moving it to the position directly above the purple cylindrical post on the block stack."}, {"label": "subtasks", "start_step": 1432, "end_step": 1544, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple cylindrical post, then moves the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut as the nut slides down the purple post."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: idle: Right hand remains empty next to the top of the purple post without obvious large displacement."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward and rightward toward the small green cube on the table with open fingers, making no contact with the cube."}, {"label": "subtasks", "start_step": 1642, "end_step": 1657, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the small green cube resting on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1658, "end_step": 1671, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand carries the green cube upward and leftward to the position directly above the purple post on the stacked block assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1791, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand adjusts the orientation and position of the green cube to align its central hole with the purple post, fitting the cube onto the post."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green cube secured on the purple post, separating the hand from the cube."}], "episode_index": 12}
+{"source_uid": "c8212cd2a98185cf", "num_frames": 1890, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand raises slightly and extends its fingers, moving toward the center of the table while remaining empty. | Right hand: reach: Right hand moves from the right side of the table toward the green cubic block below the wooden rack, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "87499f92-523f-4fdc-a592-a270d5da9e4c"}, {"label": "valid", "start_step": 0, "end_step": 1859, "id": "jE63BJ_Une7m47RyPDES7"}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green cubic block below the wooden rack, with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table to the left of the wooden peg base."}, {"label": "goal", "start_step": 131, "end_step": 240, "id": "faa6e6a6-563e-4d0d-8409-e5885ef3ecb5"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base by lowering it along the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg base without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal piece on the black table surface."}, {"label": "goal", "start_step": 241, "end_step": 305, "id": "5228bb56-cfa0-4bc9-9da1-674e111b1c66"}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 306, "end_step": 430, "id": "21bb8e1e-2488-4ca4-8538-539ca39f7935"}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward to the area above the purple pegs on the wooden rack."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal piece with the purple peg and inserts the piece onto the peg to form an assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece downward along the purple peg to press it firmly into place."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening upward."}, {"label": "goal", "start_step": 431, "end_step": 495, "id": "80248ac1-a60a-4c71-96f8-b8d5b34aab6e"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "goal", "start_step": 496, "end_step": 600, "id": "63330a21-79ed-4f29-be57-ceb930b2abce"}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward and rightward toward the rack peg."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the rack peg by sliding it downward along the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the rack peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table near the wooden peg base, with no contact yet."}, {"label": "goal", "start_step": 601, "end_step": 655, "id": "8e507621-ce8e-441e-ae9a-cb1250a7215f"}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, fingers close and adjust to form a stable grasp."}, {"label": "goal", "start_step": 656, "end_step": 860, "id": "da909a63-46e5-4cbb-8db1-0449d6bd218d"}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward and toward the rightmost purple peg on the wooden base, arriving above the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 810, "end_step": 877, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block on the purple peg, until the hand is fully separated from the block."}, {"label": "goal", "start_step": 861, "end_step": 1000, "id": "eb7f71d5-802c-4429-b431-57e5c4aac98d"}, {"label": "subtasks", "start_step": 878, "end_step": 891, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1001, "end_step": 1095, "id": "ab09f4c2-8bc1-4a89-a327-4f4b219b4f50"}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base, aligning the central hole and lowering the block down to fit."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple peg, opening fingers to separate from the block."}, {"label": "goal", "start_step": 1096, "end_step": 1160, "id": "66ffb6d2-ff86-4d9e-820e-803d336579be"}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal perforated piece on the table surface, staying empty."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal perforated piece on the table surface, with fingers closing around the piece."}, {"label": "goal", "start_step": 1161, "end_step": 1255, "id": "6204d89b-ed98-4ccf-948f-52961af42766"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal perforated piece from the table surface and moves it upward and leftward toward the wooden peg board."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal perforated piece with the purple peg on the wooden board and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal perforated piece on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring block onto the purple vertical rod of the wooden base and releases its grip."}, {"label": "goal", "start_step": 1256, "end_step": 1330, "id": "767a63b1-d5e9-4696-9019-a643f82d0f7a"}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 1331, "end_step": 1430, "id": "2bf5b653-ba44-4880-a691-08641a7223db"}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden rack, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1431, "end_step": 1500, "id": "c2c9f9ae-5724-414c-a500-fed07839329f"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1499, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward from the right side of the table toward the wooden block tray."}, {"label": "goal", "start_step": 1501, "end_step": 1595, "id": "880f9f98-7623-4f40-8298-9f44a34afb1e"}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray, aligning the block's hole with the rod and moving downward to complete the fitting."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps and adjusts the white cylinder with green section on the wooden rack, then releases it."}, {"label": "goal", "start_step": 1596, "end_step": 1705, "id": "1804f6ca-7c28-468c-bfe8-f68c6687844f"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the right table surface, with fingers closing and adjusting to form a stable grip while the block stays on the table."}, {"label": "goal", "start_step": 1706, "end_step": 1815, "id": "347f000e-ef1e-4604-b4eb-aabbc52f97ce"}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the rightmost peg of the cylinder board."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost peg on the board and moves it downward to fit the block onto the peg."}, {"label": "home", "start_step": 1860, "end_step": 1889, "id": "o1WdZLdM87twFqHFzNROJ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand raises slightly and extends its fingers, moving toward the center of the table while remaining empty. | Right hand: reach: Right hand moves from the right side of the table toward the green cubic block below the wooden rack, with fingers slightly open."}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green cubic block below the wooden rack, with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table to the left of the wooden peg base."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base by lowering it along the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg base without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward to the area above the purple pegs on the wooden rack."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal piece with the purple peg and inserts the piece onto the peg to form an assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece downward along the purple peg to press it firmly into place."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening upward."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward and rightward toward the rack peg."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the rack peg by sliding it downward along the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the rack peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table near the wooden peg base, with no contact yet."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, fingers close and adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward and toward the rightmost purple peg on the wooden base, arriving above the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 810, "end_step": 877, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block on the purple peg, until the hand is fully separated from the block."}, {"label": "subtasks", "start_step": 878, "end_step": 891, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base, aligning the central hole and lowering the block down to fit."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple peg, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal perforated piece on the table surface, staying empty."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal perforated piece on the table surface, with fingers closing around the piece."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal perforated piece from the table surface and moves it upward and leftward toward the wooden peg board."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal perforated piece with the purple peg on the wooden board and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal perforated piece on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring block onto the purple vertical rod of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden rack, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1499, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward from the right side of the table toward the wooden block tray."}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray, aligning the block's hole with the rod and moving downward to complete the fitting."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps and adjusts the white cylinder with green section on the wooden rack, then releases it."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the right table surface, with fingers closing and adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the rightmost peg of the cylinder board."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost peg on the board and moves it downward to fit the block onto the peg."}], "episode_index": 13}
+{"source_uid": "4dc1ec904c9e85c7", "num_frames": 1851, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "f02c8e88-8329-44b6-a8d5-5136640982cd"}, {"label": "valid", "start_step": 0, "end_step": 1821, "id": "PiVaE3yEu8vfLqBARVm2o"}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 131, "end_step": 275, "id": "43731d94-371b-47a3-801e-d38419814a31"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand aligns the green block with the purple peg, inserts it down onto the peg, then releases the block."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base."}, {"label": "goal", "start_step": 276, "end_step": 340, "id": "c7d9e63b-2d37-47f0-a8fb-31a0c7c16af6"}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it upward toward the wooden base."}, {"label": "goal", "start_step": 341, "end_step": 445, "id": "d2aeb326-4e54-471a-8efb-d29ffef2d33e"}, {"label": "subtasks", "start_step": 368, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "goal", "start_step": 446, "end_step": 515, "id": "11218024-c499-48df-bbdf-29f681451f0f"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 516, "end_step": 655, "id": "cedfeedb-5de3-41a8-b9ca-b006bc295512"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left purple rod of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple rod by aligning the central hole with the rod and pushing the block downwards."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats upwards away from the assembled block on the purple rod."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 656, "end_step": 720, "id": "22ff2569-cf10-4d68-9754-53dad8675208"}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white ring on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the black table with fingers closing."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the black tabletop and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 721, "end_step": 845, "id": "9d4fb32e-ec98-4a12-8e72-a06e3b936dbd"}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand inserts the white ring onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white ring placed on the purple rod."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden peg base toward the green block on the table."}, {"label": "goal", "start_step": 846, "end_step": 900, "id": "6e843368-0376-4a1a-bc79-8c7de5cb4021"}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 901, "end_step": 1030, "id": "28237424-1eb4-4b87-a401-f28330c5da77"}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block off the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand lowers the green block onto the peg of the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg on the wooden base."}, {"label": "goal", "start_step": 1031, "end_step": 1105, "id": "c1e46a4d-6ed6-43c9-bbf3-fa942af21afa"}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats from the wooden base area towards the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches and starts to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1106, "end_step": 1290, "id": "cbd536d5-e188-4550-9017-77593be53b09"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1148, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, inserts it onto the rod and presses it down to complete the assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1291, "end_step": 1355, "id": "caa2f17f-9816-411c-a370-0e38132b9ab7"}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1356, "end_step": 1450, "id": "6992660c-2352-4d61-95d3-99eed956fd0e"}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1451, "end_step": 1515, "id": "cd0a7492-92cd-4906-a5be-c695d6aaa87f"}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1516, "end_step": 1625, "id": "ef28c140-816b-4780-a023-db815f768f65"}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "goal", "start_step": 1626, "end_step": 1685, "id": "09b1cb51-ad38-4df7-9546-b7f23c103a68"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 1686, "end_step": 1785, "id": "99ad51dc-b502-40af-9d26-0f73be4e9abd"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green cubic block up away from the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green cubic block towards the front-right white column on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green cubic block with the top of the front-right white column and fits it onto the column."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens its fingers to release the green cubic block and moves away from the block."}, {"label": "home", "start_step": 1822, "end_step": 1850, "id": "Saj93iVGk3hvFUD02OheG"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand aligns the green block with the purple peg, inserts it down onto the peg, then releases the block."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left purple rod of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple rod by aligning the central hole with the rod and pushing the block downwards."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats upwards away from the assembled block on the purple rod."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white ring on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the black table with fingers closing."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the black tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand inserts the white ring onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white ring placed on the purple rod."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden peg base toward the green block on the table."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block off the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand lowers the green block onto the peg of the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats from the wooden base area towards the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches and starts to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1148, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, inserts it onto the rod and presses it down to complete the assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green cubic block up away from the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green cubic block towards the front-right white column on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green cubic block with the top of the front-right white column and fits it onto the column."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens its fingers to release the green cubic block and moves away from the block."}], "episode_index": 14}
+{"source_uid": "3896e544385fe1d6", "num_frames": 2654, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty on the right side of the table without obvious displacement or rotation."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "efc9efa9-69a3-41cf-847f-87102ef36b0b"}, {"label": "valid", "start_step": 0, "end_step": 2622, "id": "hWBF4Vo3_LVZq0X3ffE90"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the green hexagonal block near the wooden base on the table, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the green hexagonal block near the wooden base, with fingers closing and adjusting position to establish a stable grip on the block."}, {"label": "goal", "start_step": 121, "end_step": 225, "id": "2a0afd4a-cd19-48b5-be7d-0fbd371f114c"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is fully seated on the purple peg."}, {"label": "goal", "start_step": 226, "end_step": 290, "id": "23b6dc15-635a-4a84-b389-1bef5396278c"}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the table, with fingers held open."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to form a stable grip on the nut."}, {"label": "goal", "start_step": 291, "end_step": 380, "id": "153671eb-e1a3-4c33-8c6d-e3c1bd4c98cb"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut after the nut is fitted onto the purple peg."}, {"label": "goal", "start_step": 381, "end_step": 445, "id": "a83f89d1-048a-4e3b-baaf-7bce81de250c"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves down empty from the wooden block rack area toward the front white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table."}, {"label": "goal", "start_step": 446, "end_step": 560, "id": "8647802b-bd15-4670-9e49-75fb5ebdcd63"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward toward the empty purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the held white hexagonal nut with the empty purple peg on the wooden rack and fits the nut down onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut seated on the purple peg, breaking contact with the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut placed on the table in front of the wooden stacking base."}, {"label": "goal", "start_step": 561, "end_step": 615, "id": "d857bf17-0855-4ca6-8acc-40f315689abb"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table support surface."}, {"label": "goal", "start_step": 616, "end_step": 735, "id": "cf111641-81cd-4f07-8505-807a662af542"}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and backward to the position directly above the right purple post on the stacking base."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal nut to align its central hole with the purple post below."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple post for support, opening fingers to release the grasped nut."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed on the black table surface, with fingers held slightly open."}, {"label": "goal", "start_step": 736, "end_step": 790, "id": "edafd668-68de-4fcf-8702-556572c24ced"}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to form a stable grip."}, {"label": "goal", "start_step": 791, "end_step": 895, "id": "6f00ef42-f12c-4aac-a964-0da64a8be3c5"}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal nut fitted on the purple peg without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the front white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 896, "end_step": 1660, "id": "2c2bb00c-7a72-4384-9818-242d0a1bf42d"}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand makes contact with the front white hexagonal nut, adjusting finger positions to attempt closing around the nut."}, {"label": "subtasks", "start_step": 968, "end_step": 1057, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: push: Right hand pushes the toppled white hexagonal nut across the table surface toward the near side of the workspace."}, {"label": "subtasks", "start_step": 1058, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts finger positions around the toppled white hexagonal nut to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1148, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reorient: Right hand rotates the gripped white hexagonal nut about a horizontal axis to flip it from a lying position back to an upright orientation, with minimal position change."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the upright white hexagonal nut to rest on the table surface, then opens fingers to release grip on the nut."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty next to the placed white hexagonal nut without observable movement."}, {"label": "subtasks", "start_step": 1282, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves upward and toward the other white hexagonal nut positioned near the right side of the wooden assembly base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the inner white hexagonal nut near the wooden base, adjusting finger positions to attempt closing around the nut."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release contact with the inner white hexagonal nut, then moves slightly backward away from the nut."}, {"label": "subtasks", "start_step": 1455, "end_step": 1649, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach_grasp: Right hand moves a short distance back toward the inner white hexagonal nut, then adjusts finger positions to form a stable grasp around the nut."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal cylinder to the right of the wooden block base without noticeable movement."}, {"label": "goal", "start_step": 1661, "end_step": 1795, "id": "73db4c22-2b2b-4d5b-ac85-d4ec3691a7b3"}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder upward off the table surface and transports it to the position directly above the purple vertical rod on the block set."}, {"label": "subtasks", "start_step": 1710, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple vertical rod, slides the cylinder down along the rod to rest on the green block below to form the assembly."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the assembled white hexagonal cylinder on the purple rod without noticeable movement."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward toward the small white hexagonal block on the table adjacent to the wooden block base."}, {"label": "goal", "start_step": 1796, "end_step": 1860, "id": "ea5471ee-e3fd-442c-95fb-f1c8f1f8889b"}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts finger positions to close around the small white hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward to separate it from the black table surface."}, {"label": "goal", "start_step": 1861, "end_step": 2035, "id": "a48186e2-3851-4b6c-a1a5-0197fe2eb414"}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the white hexagonal nut, moving it upward and leftward to the area above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1890, "end_step": 2024, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate_place: Right hand aligns the white hexagonal nut with the purple rod on the wooden base via fine positional adjustments, and places the nut onto the wooden base to be supported by the surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden rack, releasing the block as the block rests stably on the rod."}, {"label": "goal", "start_step": 2036, "end_step": 2135, "id": "9c3d1b7a-44e4-4a45-a2fd-78051159e55b"}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward across the table surface, approaching the white hexagonal nut positioned next to the green square block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal block resting on the table near the green block without moving."}, {"label": "goal", "start_step": 2136, "end_step": 2250, "id": "42bac606-e516-4f9e-81ad-6183e7398e0e"}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves it upward and leftward toward the empty slot on the wooden peg rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal block into the empty slot on the wooden rack until the block is supported by the rack, fingers opening to release the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed white hexagonal block."}, {"label": "goal", "start_step": 2251, "end_step": 2375, "id": "b9ad8eb2-febf-4d64-8a41-e205c99b0d3c"}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward from the block rack area toward the green cubic block on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp_release: Right hand closes fingers around the green cubic block on the table, opening fingers to release contact with the block as it lifts slightly away from the surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty and stationary in the air above the green cubic block on the table."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach_grasp: Right hand moves downward toward the green cubic block on the table, closing fingers to contact the block surface upon arrival."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hollow block resting on the dark table surface without moving."}, {"label": "goal", "start_step": 2376, "end_step": 2570, "id": "4b398e12-0cef-4c00-a8a3-cf9eb7c30d50"}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand moves upward to lift the green hollow block completely off the dark table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the lifted green block toward the empty slot on the wooden block holding tray."}, {"label": "subtasks", "start_step": 2415, "end_step": 2579, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate_release: Right hand adjusts the position and orientation of the green block, aligns its central hole with the target white post on the tray, slides the block down the post to complete mating, and opens fingers to release the block."}, {"label": "home", "start_step": 2623, "end_step": 2653, "id": "NTn00-e_4bm0bCDX4owE3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty on the right side of the table without obvious displacement or rotation."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the green hexagonal block near the wooden base on the table, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the green hexagonal block near the wooden base, with fingers closing and adjusting position to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is fully seated on the purple peg."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the table, with fingers held open."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut after the nut is fitted onto the purple peg."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves down empty from the wooden block rack area toward the front white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward toward the empty purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the held white hexagonal nut with the empty purple peg on the wooden rack and fits the nut down onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut seated on the purple peg, breaking contact with the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut placed on the table in front of the wooden stacking base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table support surface."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and backward to the position directly above the right purple post on the stacking base."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal nut to align its central hole with the purple post below."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple post for support, opening fingers to release the grasped nut."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to form a stable grip."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal nut fitted on the purple peg without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the front white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand makes contact with the front white hexagonal nut, adjusting finger positions to attempt closing around the nut."}, {"label": "subtasks", "start_step": 968, "end_step": 1057, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: push: Right hand pushes the toppled white hexagonal nut across the table surface toward the near side of the workspace."}, {"label": "subtasks", "start_step": 1058, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts finger positions around the toppled white hexagonal nut to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1148, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reorient: Right hand rotates the gripped white hexagonal nut about a horizontal axis to flip it from a lying position back to an upright orientation, with minimal position change."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the upright white hexagonal nut to rest on the table surface, then opens fingers to release grip on the nut."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty next to the placed white hexagonal nut without observable movement."}, {"label": "subtasks", "start_step": 1282, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves upward and toward the other white hexagonal nut positioned near the right side of the wooden assembly base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the inner white hexagonal nut near the wooden base, adjusting finger positions to attempt closing around the nut."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release contact with the inner white hexagonal nut, then moves slightly backward away from the nut."}, {"label": "subtasks", "start_step": 1455, "end_step": 1649, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach_grasp: Right hand moves a short distance back toward the inner white hexagonal nut, then adjusts finger positions to form a stable grasp around the nut."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal cylinder to the right of the wooden block base without noticeable movement."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder upward off the table surface and transports it to the position directly above the purple vertical rod on the block set."}, {"label": "subtasks", "start_step": 1710, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple vertical rod, slides the cylinder down along the rod to rest on the green block below to form the assembly."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the assembled white hexagonal cylinder on the purple rod without noticeable movement."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward toward the small white hexagonal block on the table adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts finger positions to close around the small white hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the white hexagonal nut, moving it upward and leftward to the area above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1890, "end_step": 2024, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate_place: Right hand aligns the white hexagonal nut with the purple rod on the wooden base via fine positional adjustments, and places the nut onto the wooden base to be supported by the surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden rack, releasing the block as the block rests stably on the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward across the table surface, approaching the white hexagonal nut positioned next to the green square block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal block resting on the table near the green block without moving."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves it upward and leftward toward the empty slot on the wooden peg rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal block into the empty slot on the wooden rack until the block is supported by the rack, fingers opening to release the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed white hexagonal block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward from the block rack area toward the green cubic block on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp_release: Right hand closes fingers around the green cubic block on the table, opening fingers to release contact with the block as it lifts slightly away from the surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty and stationary in the air above the green cubic block on the table."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach_grasp: Right hand moves downward toward the green cubic block on the table, closing fingers to contact the block surface upon arrival."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hollow block resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand moves upward to lift the green hollow block completely off the dark table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the lifted green block toward the empty slot on the wooden block holding tray."}, {"label": "subtasks", "start_step": 2415, "end_step": 2579, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate_release: Right hand adjusts the position and orientation of the green block, aligns its central hole with the target white post on the tray, slides the block down the post to complete mating, and opens fingers to release the block."}], "episode_index": 15}
+{"source_uid": "d7bcef910ef2c6c7", "num_frames": 2143, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "0bcb84c9-42ff-43ce-a6a0-a21b892f5989"}, {"label": "valid", "start_step": 0, "end_step": 2115, "id": "ksqDFR9AxjN2topVkfbe0"}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 116, "end_step": 340, "id": "32a54873-9b98-4fd7-8251-62941a13e3ea"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table surface and transports it to above the leftmost front purple peg."}, {"label": "subtasks", "start_step": 142, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_press: Right hand mates the green cubic block onto the leftmost front purple peg and presses it downward along the peg to the bottom position."}, {"label": "subtasks", "start_step": 278, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches upward toward the white hexagonal block on top of the green cubic block with fingers slightly open."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of the green cubic block with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the middle purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 341, "end_step": 425, "id": "d134ca39-5d84-4c11-ac73-2b772aba86a3"}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing and adjusting for stable grip."}, {"label": "goal", "start_step": 426, "end_step": 545, "id": "00cfa2dc-8470-49b8-89fc-0a7c1c03ff6f"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal object from the black table upward and rightward to the position above the front-left purple peg of the wooden board."}, {"label": "subtasks", "start_step": 465, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the front-left purple peg of the wooden board, lowering it to fit over the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 532, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats downward and rightward away from the wooden board with empty hand."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal piece on the black table."}, {"label": "goal", "start_step": 546, "end_step": 605, "id": "2e4baf38-71b7-4e1b-bed1-d08505f6f923"}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to establish a stable grip."}, {"label": "goal", "start_step": 606, "end_step": 710, "id": "49453ad4-e02e-4470-b0dd-57a7af6ced87"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward to the position above the wooden base's peg."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the peg of the wooden base, lowering it along the peg to fit into position."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the wooden base's peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 711, "end_step": 780, "id": "394e39d8-02ac-4b63-859c-a879f87d6d80"}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 742, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 781, "end_step": 900, "id": "33ed37af-b883-4e86-8db7-ace6eeab4730"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple peg of the wooden rack, aligning and lowering it into place."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the rightmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the rightmost purple peg by opening its fingers."}, {"label": "goal", "start_step": 901, "end_step": 970, "id": "ae8de39a-3008-4490-a7c3-145e519526a4"}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the left side of the black table surface, empty-handed."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}, {"label": "goal", "start_step": 971, "end_step": 1105, "id": "28346b70-017f-41ad-81d0-6fa83a3542d8"}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward toward the front-right purple peg of the pegboard."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-right purple peg of the pegboard by aligning the hole and lowering the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-right purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand starts to release the green hexagonal block on the front-right purple peg, with fingers slightly opening."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green ring down along the peg on the wooden board."}, {"label": "goal", "start_step": 1106, "end_step": 1170, "id": "a90b963d-2053-4924-8049-de628c97822c"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green supporting block on the right side of the table."}, {"label": "goal", "start_step": 1171, "end_step": 1290, "id": "e66a1b8c-ca60-49fc-806a-219b1aec747b"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1251, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by inserting it downward onto the peg until it touches the green base at the bottom."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and fully separating from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden peg base toward the upper white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1291, "end_step": 1355, "id": "dcd68746-0d6c-4d4a-bb87-0762c5d186f1"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1356, "end_step": 1735, "id": "49db2278-aa68-4ad7-87b3-5b737486302b"}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and presses it down onto the rod, making continuous fine adjustments to the block's position."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves slightly toward the white hexagonal block on the purple rod again."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: other:adjust_block_height_on_rod: Right hand grasps the white hexagonal block on the purple rod and adjusts its height along the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1731, "id": "reasoning-language-00048", "text": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, not yet touching the block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1739, "id": "reasoning-language-00049", "text": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: release_retreat: Right hand releases the white hexagonal block and moves downward away from the purple rod."}, {"label": "goal", "start_step": 1736, "end_step": 1785, "id": "0999f584-a6f9-43a1-b799-e7573f84a5c0"}, {"label": "subtasks", "start_step": 1740, "end_step": 1747, "id": "reasoning-language-00050", "text": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, not yet touching the block."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00051", "text": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, adjusting the grip to stabilize the block."}, {"label": "goal", "start_step": 1786, "end_step": 1910, "id": "b3a77e5b-d112-4b68-9b5d-9523056d1854"}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward and leftward to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and moves it downward to fit the block onto the rod until the block is supported by the white cylinder below."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 1911, "end_step": 1960, "id": "78b83187-3f82-4d2e-95f2-d9826d14bccd"}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the right side of the white block assembly toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing around the cube to form a stable grip."}, {"label": "goal", "start_step": 1961, "end_step": 2055, "id": "918abddc-e1a3-46f5-aa1d-c8ab57f58f9f"}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward to the position above the purple peg on the white block assembly."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green cube with the purple peg on the white block assembly and fits the cube onto the peg."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube, with fingers opening and separating from the cube."}, {"label": "home", "start_step": 2116, "end_step": 2142, "id": "hoMR0vunS4NoUugg_AxaB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the wooden rack."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table surface and transports it to above the leftmost front purple peg."}, {"label": "subtasks", "start_step": 142, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_press: Right hand mates the green cubic block onto the leftmost front purple peg and presses it downward along the peg to the bottom position."}, {"label": "subtasks", "start_step": 278, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches upward toward the white hexagonal block on top of the green cubic block with fingers slightly open."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of the green cubic block with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the middle purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal object from the black table upward and rightward to the position above the front-left purple peg of the wooden board."}, {"label": "subtasks", "start_step": 465, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the front-left purple peg of the wooden board, lowering it to fit over the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 532, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats downward and rightward away from the wooden board with empty hand."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward to the position above the wooden base's peg."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the peg of the wooden base, lowering it along the peg to fit into position."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the wooden base's peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 742, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple peg of the wooden rack, aligning and lowering it into place."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the rightmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the rightmost purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the left side of the black table surface, empty-handed."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward toward the front-right purple peg of the pegboard."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-right purple peg of the pegboard by aligning the hole and lowering the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-right purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand starts to release the green hexagonal block on the front-right purple peg, with fingers slightly opening."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green ring down along the peg on the wooden board."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green supporting block on the right side of the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1251, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by inserting it downward onto the peg until it touches the green base at the bottom."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and fully separating from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden peg base toward the upper white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and presses it down onto the rod, making continuous fine adjustments to the block's position."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves slightly toward the white hexagonal block on the purple rod again."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: other:adjust_block_height_on_rod: Right hand grasps the white hexagonal block on the purple rod and adjusts its height along the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1731, "id": "reasoning-language-00048", "text": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, not yet touching the block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1739, "id": "reasoning-language-00049", "text": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: release_retreat: Right hand releases the white hexagonal block and moves downward away from the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1747, "id": "reasoning-language-00050", "text": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, not yet touching the block."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00051", "text": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward and leftward to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and moves it downward to fit the block onto the rod until the block is supported by the white cylinder below."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the right side of the white block assembly toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing around the cube to form a stable grip."}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward to the position above the purple peg on the white block assembly."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green cube with the purple peg on the white block assembly and fits the cube onto the peg."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube, with fingers opening and separating from the cube."}], "episode_index": 16}
+{"source_uid": "e682c1516a84c3ff", "num_frames": 2185, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its hand and finger posture slightly at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block on the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "c6d30754-b8da-4020-aa2d-b462290e7e65"}, {"label": "valid", "start_step": 0, "end_step": 2154, "id": "y5wrTqqMdp48RYf7eG8Xv"}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the leftmost purple rod."}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the black table surface near the green block."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block placed on the black table top."}, {"label": "goal", "start_step": 141, "end_step": 310, "id": "5b0556dd-782c-4253-a7a9-eae0df7f75ce"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 210, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 311, "end_step": 385, "id": "da330e59-d9f7-4eaa-8567-f1558f6b0902"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 386, "end_step": 560, "id": "f4b21370-eb42-49bc-8144-660d8159e7d4"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base, adjusting position to fit properly."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 561, "end_step": 650, "id": "12d17833-e8f6-48cf-af2a-9a703a560f29"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 651, "end_step": 970, "id": "819ab4a2-b32b-49b1-bbd5-97e959a8ccc3"}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the target position."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple peg of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 971, "end_step": 1045, "id": "c009e1ff-5eda-4d9a-ac23-5d0079d380c2"}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "goal", "start_step": 1046, "end_step": 1160, "id": "a6a14441-26df-4965-a324-ed6bc1f5eb46"}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple rod on the wooden base and then releases the ring from its grasp."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position above the wooden base toward the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1161, "end_step": 1220, "id": "c4bf4212-44be-4c65-af59-8eb89520c5b9"}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop, adjusting to form a stable grip."}, {"label": "goal", "start_step": 1221, "end_step": 1355, "id": "cea496b3-c5ae-49be-947b-74904ad83a96"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod on the wooden base and fits it onto the rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1356, "end_step": 1420, "id": "58039232-901e-4a99-9f6d-3c77e7d7556f"}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "goal", "start_step": 1421, "end_step": 1555, "id": "12ca25dc-ea2c-42f8-b820-9d4f99ac06f1"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple vertical rod on the wooden base and releases the grip on the block."}, {"label": "goal", "start_step": 1556, "end_step": 1630, "id": "c6b6f650-f52f-472d-8029-679f328d8a54"}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1631, "end_step": 1755, "id": "7d848f41-64e3-4a47-81fa-76458df0162d"}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block away from the black tabletop."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white hexagonal block horizontally to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal block and fits it onto the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}, {"label": "goal", "start_step": 1756, "end_step": 1820, "id": "7e9518ff-df31-44fb-ae69-eb1e13ea8d17"}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1821, "end_step": 1930, "id": "75b9dae4-7bb8-4af9-b042-d5a5dc541ef3"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block up and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block with purple top onto the wooden base."}, {"label": "goal", "start_step": 1931, "end_step": 1995, "id": "7eff847c-d47c-4dba-9409-adc15eabf244"}, {"label": "subtasks", "start_step": 1942, "end_step": 1987, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 1996, "end_step": 2090, "id": "ee993dec-f04a-428c-827b-220920816d64"}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block towards the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the top of the target white bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block after it is fitted onto the white bottle."}, {"label": "home", "start_step": 2155, "end_step": 2184, "id": "fFwTNABCd7V0bL6PK0TFE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its hand and finger posture slightly at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the leftmost purple rod."}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the black table surface near the green block."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block placed on the black table top."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 210, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base, adjusting position to fit properly."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the target position."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple peg of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple rod on the wooden base and then releases the ring from its grasp."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position above the wooden base toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop, adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod on the wooden base and fits it onto the rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple vertical rod on the wooden base and releases the grip on the block."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block away from the black tabletop."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white hexagonal block horizontally to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal block and fits it onto the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block up and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block with purple top onto the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1987, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block towards the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the top of the target white bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block after it is fitted onto the white bottle."}], "episode_index": 17}
+{"source_uid": "175a0eb3eaf85db4", "num_frames": 2000, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand with open fingers moves from its initial upper-right position toward the green hexagonal block placed on the front-left area of the table surface, approaching the target without establishing contact."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "b602287b-df26-41ec-9fff-fc710033caf7"}, {"label": "valid", "start_step": 0, "end_step": 1967, "id": "fhtnPfg3Oc1AnSHANCWml"}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, fingers close and perform minor adjustments to form a stable grip on the block which remains on the table surface."}, {"label": "goal", "start_step": 116, "end_step": 235, "id": "2ee35458-06ce-423a-b698-cc2eb1539c48"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward toward the purple rods on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod, and adjusts the block's position to fit it onto the rod."}, {"label": "goal", "start_step": 236, "end_step": 305, "id": "bc6b630e-7f79-481f-a53f-1063fdec2453"}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach_grasp: Right hand moves downward to approach the white hexagonal nut on the table in front of the wooden base, making contact with the nut and adjusting finger positions to close around it for a stable grasp."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without any visible movement."}, {"label": "goal", "start_step": 306, "end_step": 420, "id": "b38dac23-6ed0-4852-948e-d82bca57d2b4"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to a position directly above the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: hold: Right hand holds the white hexagonal nut directly above the purple peg on the wooden assembly rack without visible movement."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the purple peg and fits the nut onto the top portion of the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place_release: Right hand slides the white hexagonal nut downward along the purple peg until it rests stably on the green base block, with fingers opening to release contact with the nut."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from above the wooden assembly base toward the white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 421, "end_step": 480, "id": "8c362e83-302e-46df-9d16-01153c8845a9"}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact points to establish a stable grip."}, {"label": "goal", "start_step": 481, "end_step": 675, "id": "d48cbb16-9b55-4af5-beb6-8546778ee416"}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 525, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the held white hexagonal nut with the empty purple peg, lowering the nut to fit onto the peg until it is fully supported by the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens fingers gradually to release the fitted white hexagonal nut, breaking the grip on the nut."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: idle: Right hand remains empty above the assembled white nut without any visible movement."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens fingers to release the previously held white hexagonal nut from the upper position on the wooden pegboard, allowing the nut to rest on the peg."}, {"label": "goal", "start_step": 676, "end_step": 745, "id": "5817cdc2-58f3-4f83-9207-8d872daf66b1"}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the black table surface directly in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table to establish a stable grasp."}, {"label": "goal", "start_step": 746, "end_step": 905, "id": "c9798a07-41e3-4bc8-a595-da92f95615f1"}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position it directly above the empty purple peg on the pegboard."}, {"label": "subtasks", "start_step": 780, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, moves the nut downward to fit it onto the peg until it seats at the lower position on the peg."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple vertical post on the wooden base, inserts it fully onto the post and opens fingers to release the block."}, {"label": "goal", "start_step": 906, "end_step": 1000, "id": "8b90eeb6-47a1-4c53-89e6-62dca1fec4dc"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward through empty space toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to form a grip."}, {"label": "goal", "start_step": 1001, "end_step": 1130, "id": "ab547821-7cf4-4b91-8b78-35b94b4b1c34"}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the area above the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place: Right hand aligns the green hexagonal block with the purple post, moves downward to place the block onto the wooden base, fitting the block over the post until it rests stably on the base surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from the area in front of the wooden pegboard toward the green hexagonal block on the black table surface, staying empty before making contact with the target."}, {"label": "goal", "start_step": 1131, "end_step": 1220, "id": "4c04e50e-1099-499f-8f1d-322ad33cf24d"}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand contacts the green hexagonal block on the black table surface, closing fingers and adjusting finger contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}, {"label": "goal", "start_step": 1221, "end_step": 1340, "id": "43785dcb-25dc-4aa2-8d3d-f6cb27155287"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg on the wooden base, adjusting position slightly to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place: Right hand lowers the white hexagonal nut along the purple peg until it rests stably on the supporting green block below."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the white hexagonal nut beside the wooden base, keeping fingers open while approaching the target nut."}, {"label": "goal", "start_step": 1341, "end_step": 1395, "id": "59e7fb31-549d-4876-9525-b0dbf7014bc4"}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the table, adjusting finger positions to form a stable grip on the nut."}, {"label": "goal", "start_step": 1396, "end_step": 1510, "id": "fad9fdc8-76a6-4e1a-887a-a9b8793e07c2"}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the dark table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and horizontally toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut to fit it onto the rod until it rests stably on the stacked nuts below."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, moving fingers away from the placed nut."}, {"label": "goal", "start_step": 1511, "end_step": 1555, "id": "86c3c83c-e9be-4eb0-a8a6-b2ec06de30c4"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from its initial upper position toward the white hexagonal nut on the black table surface, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the table, forming a stable grasp while the nut stays on the supporting surface."}, {"label": "goal", "start_step": 1556, "end_step": 1770, "id": "77f02b8c-3e7f-4910-9ff4-315133d2e220"}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and leftward to the position directly above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1612, "end_step": 1731, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut to align its central hole with the purple rod, fitting the nut onto the top end of the rod."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple rod until it rests stably on the lower white block, opening fingers to fully release the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward toward the small green block on the black table surface from its initial position near the set of white bottles."}, {"label": "goal", "start_step": 1771, "end_step": 1825, "id": "9874d578-f03c-4595-a626-1b8791fc6ee1"}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes its fingers around the small green block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1826, "end_step": 1920, "id": "55398e04-b0e4-402e-bc92-733b347978fe"}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface and moves it to the position directly above the purple-capped white bottle on the tray."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple-capped bottle and fits the block onto the bottle cap."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens its fingers to release the green block fitted on the bottle cap, separating the hand from the block."}, {"label": "home", "start_step": 1968, "end_step": 1999, "id": "q3yEwklmAPe75RQ-kkfcz"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand with open fingers moves from its initial upper-right position toward the green hexagonal block placed on the front-left area of the table surface, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, fingers close and perform minor adjustments to form a stable grip on the block which remains on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward toward the purple rods on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod, and adjusts the block's position to fit it onto the rod."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach_grasp: Right hand moves downward to approach the white hexagonal nut on the table in front of the wooden base, making contact with the nut and adjusting finger positions to close around it for a stable grasp."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without any visible movement."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to a position directly above the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: hold: Right hand holds the white hexagonal nut directly above the purple peg on the wooden assembly rack without visible movement."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the purple peg and fits the nut onto the top portion of the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place_release: Right hand slides the white hexagonal nut downward along the purple peg until it rests stably on the green base block, with fingers opening to release contact with the nut."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from above the wooden assembly base toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact points to establish a stable grip."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 525, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the held white hexagonal nut with the empty purple peg, lowering the nut to fit onto the peg until it is fully supported by the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens fingers gradually to release the fitted white hexagonal nut, breaking the grip on the nut."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: idle: Right hand remains empty above the assembled white nut without any visible movement."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens fingers to release the previously held white hexagonal nut from the upper position on the wooden pegboard, allowing the nut to rest on the peg."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the black table surface directly in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position it directly above the empty purple peg on the pegboard."}, {"label": "subtasks", "start_step": 780, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, moves the nut downward to fit it onto the peg until it seats at the lower position on the peg."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple vertical post on the wooden base, inserts it fully onto the post and opens fingers to release the block."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward through empty space toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to form a grip."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the area above the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place: Right hand aligns the green hexagonal block with the purple post, moves downward to place the block onto the wooden base, fitting the block over the post until it rests stably on the base surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from the area in front of the wooden pegboard toward the green hexagonal block on the black table surface, staying empty before making contact with the target."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand contacts the green hexagonal block on the black table surface, closing fingers and adjusting finger contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg on the wooden base, adjusting position slightly to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place: Right hand lowers the white hexagonal nut along the purple peg until it rests stably on the supporting green block below."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the white hexagonal nut beside the wooden base, keeping fingers open while approaching the target nut."}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the table, adjusting finger positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the dark table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and horizontally toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut to fit it onto the rod until it rests stably on the stacked nuts below."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, moving fingers away from the placed nut."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from its initial upper position toward the white hexagonal nut on the black table surface, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the table, forming a stable grasp while the nut stays on the supporting surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and leftward to the position directly above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1612, "end_step": 1731, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut to align its central hole with the purple rod, fitting the nut onto the top end of the rod."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple rod until it rests stably on the lower white block, opening fingers to fully release the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward toward the small green block on the black table surface from its initial position near the set of white bottles."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes its fingers around the small green block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface and moves it to the position directly above the purple-capped white bottle on the tray."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple-capped bottle and fits the block onto the bottle cap."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens its fingers to release the green block fitted on the bottle cap, separating the hand from the block."}], "episode_index": 18}
+{"source_uid": "40dc3d6cd5ff519b", "num_frames": 1705, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_extend: Left hand extends its fingers slightly at the left side of the table, remaining empty with no overall hand displacement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface, staying empty."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "17ae051a-4fa2-464e-a54d-144dda60bde6"}, {"label": "valid", "start_step": 0, "end_step": 1673, "id": "aAxJGDwVwd8w9n23w7qlD"}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface, staying empty."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the dark table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 126, "end_step": 265, "id": "02a3da38-9734-4740-86aa-503e413a2e37"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack, sliding it downward along the peg."}, {"label": "goal", "start_step": 266, "end_step": 350, "id": "82d86b85-2446-482f-809f-681f01d582c1"}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 300, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to fit the block."}, {"label": "goal", "start_step": 351, "end_step": 460, "id": "43902b96-5958-4f5e-90c7-b91f16ce8e5c"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the purple post rack."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the rightmost purple post on the rack and fits it onto the post."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the rightmost purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical component down to fit it fully onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 461, "end_step": 530, "id": "e2daa604-beaf-4263-a98a-e7e7906c81a6"}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal part at the lower area of the table."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the lower-left area of the table surface."}, {"label": "goal", "start_step": 531, "end_step": 640, "id": "761e82f4-1594-46ad-a6ee-380dfd0aa979"}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it upward and rightward to the area above the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with a purple peg by aligning its hole and lowering it onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple peg, with fingers gradually opening."}, {"label": "goal", "start_step": 641, "end_step": 715, "id": "034b1c40-df86-4ac3-b843-baa6bc35f241"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table above the green cubic block."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 716, "end_step": 840, "id": "9c2f964f-037d-4ca5-87c2-20ba3e6d62e8"}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical piece from the black table and transports it to the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical piece with the rightmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylindrical piece along the purple peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical piece on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece by opening its fingers."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the white cylindrical piece without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table in front of the wooden base."}, {"label": "goal", "start_step": 841, "end_step": 895, "id": "159c6968-9fb7-4658-a9bd-22a0d34cd33c"}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 896, "end_step": 995, "id": "7e577275-01ca-4e90-9f71-189553fbf196"}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the position above the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the rightmost purple peg by aligning the block's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the wooden peg of the building set, with fingers opening to break contact."}, {"label": "goal", "start_step": 996, "end_step": 1070, "id": "a25d0ae1-fed3-4aaa-81c2-7c14c001b964"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1071, "end_step": 1170, "id": "94d684fb-9ddf-4092-b634-186a6fbc7473"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1169, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and lowers it onto the peg to complete the fitting."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the purple peg on the wooden base toward the white hexagonal piece on the table, approaching the target."}, {"label": "goal", "start_step": 1171, "end_step": 1240, "id": "8f34e0eb-adac-4040-85f4-26cd2af73b94"}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table, adjusting the grip to stabilize the object."}, {"label": "goal", "start_step": 1241, "end_step": 1335, "id": "031e5323-77b3-481f-b3a3-f7f6217096f0"}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal piece onto the purple peg on the wooden base, then releases the grip to separate from the piece."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1336, "end_step": 1390, "id": "39868b93-29a4-4949-a0eb-f13c4fbe8ee6"}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "goal", "start_step": 1391, "end_step": 1485, "id": "a892b59a-7163-4b70-b784-122b64e27bda"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden rack by lowering and aligning the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the block set toward the green square block on the dark table surface."}, {"label": "goal", "start_step": 1486, "end_step": 1540, "id": "7da85022-dec3-476e-ad38-5d1f515d58b5"}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1541, "end_step": 1640, "id": "308465a5-ef16-43be-bac2-4915aad44cf7"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it upward and leftward toward the rightmost peg on the wooden block base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block by opening its fingers and moving slightly away from the block."}, {"label": "home", "start_step": 1674, "end_step": 1704, "id": "0iQaLQUtWQ8DYfT4HKEHE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_extend: Left hand extends its fingers slightly at the left side of the table, remaining empty with no overall hand displacement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface, staying empty."}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface, staying empty."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the dark table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack, sliding it downward along the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 300, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to fit the block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the purple post rack."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the rightmost purple post on the rack and fits it onto the post."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the rightmost purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical component down to fit it fully onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal part at the lower area of the table."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the lower-left area of the table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it upward and rightward to the area above the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with a purple peg by aligning its hole and lowering it onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple peg, with fingers gradually opening."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table above the green cubic block."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical piece from the black table and transports it to the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical piece with the rightmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylindrical piece along the purple peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical piece on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece by opening its fingers."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the white cylindrical piece without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the position above the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the rightmost purple peg by aligning the block's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the wooden peg of the building set, with fingers opening to break contact."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1169, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and lowers it onto the peg to complete the fitting."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the purple peg on the wooden base toward the white hexagonal piece on the table, approaching the target."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table, adjusting the grip to stabilize the object."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal piece onto the purple peg on the wooden base, then releases the grip to separate from the piece."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden rack by lowering and aligning the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the block set toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it upward and leftward toward the rightmost peg on the wooden block base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block by opening its fingers and moving slightly away from the block."}], "episode_index": 19}
+{"source_uid": "d955d28beeb36870", "num_frames": 2182, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "29529c7b-956e-4e37-80cb-41fdb2edcafe"}, {"label": "valid", "start_step": 0, "end_step": 2151, "id": "BWe6pQHt-cM3zRpcwaiut"}, {"label": "subtasks", "start_step": 52, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand adjusts finger posture and contacts the green hexagonal block to form a grasp."}, {"label": "goal", "start_step": 116, "end_step": 300, "id": "b1eca4d2-511f-4d1f-a300-f6dbf7f56123"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: press: Right hand presses the green block down along the purple peg to fix it in place."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release_retreat: Right hand releases the green block and retreats from the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the white hexagonal object on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 301, "end_step": 320, "id": "562d8422-4fcd-42c1-8d31-9625463371f9"}, {"label": "goal", "start_step": 321, "end_step": 415, "id": "5da08212-57a7-4094-909c-04c2cb89b893"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the tabletop and transports it to above the target purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand mates the white hexagonal object with the purple peg by inserting it down onto the peg."}, {"label": "goal", "start_step": 416, "end_step": 655, "id": "631079eb-e38d-4e1a-83ad-359a2d579277"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand opens fingers to release the white hexagonal block onto the tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves to approach the white hexagonal block on the tabletop again."}, {"label": "subtasks", "start_step": 578, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand adjusts finger position to prepare for grasping the white hexagonal block on the tabletop."}, {"label": "goal", "start_step": 656, "end_step": 815, "id": "56a90a20-0372-46de-9621-335779a5189d"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place_mate: Right hand places the white hexagonal block onto the purple peg and mates it by pushing down to fit securely on the peg."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the white hexagonal block onto the peg on the wooden base."}, {"label": "goal", "start_step": 816, "end_step": 885, "id": "d28557b3-1ff8-4f04-88f8-a26de1510dda"}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 886, "end_step": 1050, "id": "e303ce38-0d3c-4fa3-b968-338f21b4b852"}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: retreat: Right hand retreats from the wooden base area towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand reaches towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach_grasp: Right hand reaches toward the green block on the black table, then grasps it with fingers closing around the block."}, {"label": "goal", "start_step": 1051, "end_step": 1075, "id": "d1241414-6cfc-46bc-a0e3-8db261315821"}, {"label": "goal", "start_step": 1076, "end_step": 1220, "id": "2ffc6176-8e5f-49d2-976c-ed013b02e63d"}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the green block off the table, then transports it toward the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the green block onto the white peg on the wooden base until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: press: Right hand presses the green block down along the white peg to secure it in place."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the green block on the white peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the green hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1221, "end_step": 1350, "id": "cdd2b1f4-ca88-4a0f-8847-a7114bc7c8f9"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1260, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1351, "end_step": 1515, "id": "03b5a503-ee6b-4098-9f19-7fbe3991656c"}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand gradually releases the white hexagonal block after it is assembled on the purple rod."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp_release: Right hand grasps and releases the white cylindrical block on the wooden base."}, {"label": "goal", "start_step": 1516, "end_step": 1590, "id": "fe1819fa-8a6d-41cf-b405-cb374192982e"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves down towards the white hollow hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table."}, {"label": "goal", "start_step": 1591, "end_step": 1775, "id": "63c9dad6-9ee1-4fe2-9ea7-e6534818d66d"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the white hexagonal block and retreats slightly from the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand reaches towards the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it in place."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves towards the white hexagonal block on the table without touching it."}, {"label": "goal", "start_step": 1776, "end_step": 1835, "id": "c1dd4351-21c4-4d96-9486-212e71b38846"}, {"label": "subtasks", "start_step": 1808, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1836, "end_step": 1935, "id": "c5e5d4f4-fa4d-4a4a-b9fd-2d2922923831"}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}, {"label": "goal", "start_step": 1936, "end_step": 1990, "id": "71be2431-8b60-46e4-bcc1-3bbab0eed10a"}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves toward the green hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the green hollow block on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 1991, "end_step": 2115, "id": "3a622be0-62bc-4f4f-ade9-aa42febe1e8c"}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the green hollow block from the tabletop and transports it above the white block with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2055, "end_step": 2121, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place_mate: Right hand places the green hollow block onto the purple top of the white block and mates it into correct position."}, {"label": "subtasks", "start_step": 2122, "end_step": 2129, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the green hollow block fitted on the white block."}, {"label": "home", "start_step": 2152, "end_step": 2181, "id": "HQfbPAek4mq61f2ekhLp3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand adjusts finger posture and contacts the green hexagonal block to form a grasp."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: press: Right hand presses the green block down along the purple peg to fix it in place."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release_retreat: Right hand releases the green block and retreats from the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the white hexagonal object on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the tabletop and transports it to above the target purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand mates the white hexagonal object with the purple peg by inserting it down onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand opens fingers to release the white hexagonal block onto the tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves to approach the white hexagonal block on the tabletop again."}, {"label": "subtasks", "start_step": 578, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand adjusts finger position to prepare for grasping the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place_mate: Right hand places the white hexagonal block onto the purple peg and mates it by pushing down to fit securely on the peg."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the white hexagonal block onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: retreat: Right hand retreats from the wooden base area towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand reaches towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach_grasp: Right hand reaches toward the green block on the black table, then grasps it with fingers closing around the block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the green block off the table, then transports it toward the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the green block onto the white peg on the wooden base until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: press: Right hand presses the green block down along the white peg to secure it in place."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the green block on the white peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the green hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1260, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand gradually releases the white hexagonal block after it is assembled on the purple rod."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp_release: Right hand grasps and releases the white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves down towards the white hollow hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the white hexagonal block and retreats slightly from the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand reaches towards the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it in place."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves towards the white hexagonal block on the table without touching it."}, {"label": "subtasks", "start_step": 1808, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves toward the green hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the green hollow block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the green hollow block from the tabletop and transports it above the white block with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2055, "end_step": 2121, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place_mate: Right hand places the green hollow block onto the purple top of the white block and mates it into correct position."}, {"label": "subtasks", "start_step": 2122, "end_step": 2129, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the green hollow block fitted on the white block."}], "episode_index": 20}
+{"source_uid": "e15f981e7d21e618", "num_frames": 1773, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty from the right initial position toward the green hexagonal block adjacent to the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "df562022-ba00-4607-8eaa-ed630cb7a147"}, {"label": "valid", "start_step": 0, "end_step": 1741, "id": "F3zvPMndnUHTnVCAjDYGP"}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to establish a grip."}, {"label": "goal", "start_step": 126, "end_step": 230, "id": "a61dc4f8-1e27-4077-8fb8-3497d8e02b6c"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves the block upward to position it directly above the purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden stand, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut on the table, approaching the nut without making contact."}, {"label": "goal", "start_step": 231, "end_step": 300, "id": "efa1bce6-f5c5-4ab6-bfbd-025022f337dd"}, {"label": "subtasks", "start_step": 262, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers close and adjust positions to establish a grasp on the nut."}, {"label": "goal", "start_step": 301, "end_step": 415, "id": "6554d79b-acd5-4144-84b9-cab8148f1392"}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves it downward to fit onto the rod until it rests on the green base."}, {"label": "subtasks", "start_step": 398, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand, empty, moves downward and forward from the wooden assembly block area toward the front white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 416, "end_step": 485, "id": "16bd5ee8-7889-4cf0-9cba-3aaa3bb475e5"}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal nut on the table, making small wrist and finger adjustments to form a grip on the nut."}, {"label": "goal", "start_step": 486, "end_step": 600, "id": "82f06210-aad3-48c2-a312-f2bfa64277fe"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple post and fits the nut down onto the post."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without noticeable movement or adjustment."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the top of the stacked blocks toward the white hexagonal block placed near the wooden base, with fingers held slightly open."}, {"label": "goal", "start_step": 601, "end_step": 660, "id": "c5b027e9-8663-4f61-9d55-742ad9735039"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 661, "end_step": 775, "id": "e1244de8-050b-40df-916f-70472bc28473"}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the empty purple peg, and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple peg, and shifts slightly away from the block."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from above the wooden pegboard toward the green hexagonal block on the table, with fingers kept open."}, {"label": "goal", "start_step": 776, "end_step": 830, "id": "8d75a3ec-a0f4-4587-9009-25cc396752b8"}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to form a stable grip, with the block remaining on the table surface."}, {"label": "goal", "start_step": 831, "end_step": 925, "id": "4ff285ea-0d23-4344-9b91-d1d7c333e049"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the stably gripped green hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and leftward to the position directly above the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the pegboard, lowering the block with small positional adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: place: Right hand places the white hexagonal block down onto the purple vertical rod on the wooden assembly base, until the block is stably supported by the block below."}, {"label": "goal", "start_step": 926, "end_step": 1085, "id": "baa8a13e-3440-4c9f-9b55-46eb5848e052"}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and away from the assembly base toward the white hexagonal block resting on the black table surface near the green block."}, {"label": "subtasks", "start_step": 968, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and making small positional adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}, {"label": "goal", "start_step": 1086, "end_step": 1200, "id": "b9429b67-5715-4731-a27d-871c0cd7cb32"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block toward the purple rod on the wooden block assembly base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and moves the block downward with slight positional adjustments to fit it onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward with empty hand to approach the white hexagonal nut placed on the black table to the right of the wooden block base."}, {"label": "goal", "start_step": 1201, "end_step": 1265, "id": "8d91c104-3ac4-484b-b656-ff73ca917b01"}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers to wrap around the white hexagonal nut on the table, making small finger adjustments to form a stable grip on the nut."}, {"label": "goal", "start_step": 1266, "end_step": 1380, "id": "8a6bcde6-4f3f-46b6-9d98-8a871ebce072"}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward to position the nut directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, and lowers the nut to fit it onto the rod until it rests on the stacked components below."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the nut."}, {"label": "goal", "start_step": 1381, "end_step": 1430, "id": "d196ef47-eaec-45b1-b58b-cc7400f42c3c"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table, with fingers held in an extended position."}, {"label": "subtasks", "start_step": 1418, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp, with the block still resting on the table surface."}, {"label": "goal", "start_step": 1431, "end_step": 1540, "id": "52723bf2-e77c-4a19-a344-a7e6a377804c"}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block upward and leftward toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, then fits the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves the white hexagonal block downward along the purple vertical rod until the block rests stably on the underlying white block, fully supported by the base assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the purple top on the white cylinder of the block assembly vertically downward."}, {"label": "goal", "start_step": 1541, "end_step": 1595, "id": "02562e2e-c630-4e15-aa79-dd4d7cc74ada"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty from the block assembly area toward the small green cube resting on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers to grasp the small green cube on the black table surface."}, {"label": "goal", "start_step": 1596, "end_step": 1705, "id": "96ed61f2-b00c-44ff-9da4-9e35e2524607"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the small green cube off the table surface and transports it upward to the position above the purple-topped white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the small green cube with the top of the purple-topped white cylinder and fits the cube onto the cylinder."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the fitted green cube, separating the hand from the cube."}, {"label": "home", "start_step": 1742, "end_step": 1772, "id": "QGMkeUQIObpGVcUcKVEhH"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty from the right initial position toward the green hexagonal block adjacent to the wooden peg base."}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves the block upward to position it directly above the purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden stand, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut on the table, approaching the nut without making contact."}, {"label": "subtasks", "start_step": 262, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers close and adjust positions to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves it downward to fit onto the rod until it rests on the green base."}, {"label": "subtasks", "start_step": 398, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand, empty, moves downward and forward from the wooden assembly block area toward the front white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal nut on the table, making small wrist and finger adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple post and fits the nut down onto the post."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without noticeable movement or adjustment."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the top of the stacked blocks toward the white hexagonal block placed near the wooden base, with fingers held slightly open."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the empty purple peg, and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple peg, and shifts slightly away from the block."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from above the wooden pegboard toward the green hexagonal block on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the stably gripped green hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and leftward to the position directly above the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the pegboard, lowering the block with small positional adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: place: Right hand places the white hexagonal block down onto the purple vertical rod on the wooden assembly base, until the block is stably supported by the block below."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and away from the assembly base toward the white hexagonal block resting on the black table surface near the green block."}, {"label": "subtasks", "start_step": 968, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and making small positional adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block toward the purple rod on the wooden block assembly base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and moves the block downward with slight positional adjustments to fit it onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward with empty hand to approach the white hexagonal nut placed on the black table to the right of the wooden block base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers to wrap around the white hexagonal nut on the table, making small finger adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward to position the nut directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, and lowers the nut to fit it onto the rod until it rests on the stacked components below."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table, with fingers held in an extended position."}, {"label": "subtasks", "start_step": 1418, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block upward and leftward toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, then fits the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves the white hexagonal block downward along the purple vertical rod until the block rests stably on the underlying white block, fully supported by the base assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the purple top on the white cylinder of the block assembly vertically downward."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty from the block assembly area toward the small green cube resting on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers to grasp the small green cube on the black table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the small green cube off the table surface and transports it upward to the position above the purple-topped white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the small green cube with the top of the purple-topped white cylinder and fits the cube onto the cylinder."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the fitted green cube, separating the hand from the cube."}], "episode_index": 21}
+{"source_uid": "0cf37121d0e080a7", "num_frames": 3165, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand spreads its fingers and adjusts wrist posture slightly while staying at the left side of the table, with no obvious position change. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green cubic block to the left of the wooden rack, with fingers open and not touching the block."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "b348a92e-0c0e-444b-91a6-2bb73244294a"}, {"label": "valid", "start_step": 0, "end_step": 3137, "id": "QvlPAnV_LMuo3Fu7NauMd"}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green cubic block to the left of the wooden rack, with fingers open and not touching the block."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green cubic block to the left of the wooden rack, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 116, "end_step": 215, "id": "f905c330-9742-4f1b-be38-1e996f5caf85"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the upper position of the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the green block with the leftmost purple post by inserting the post into the hole of the green block."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the green block fitted on the leftmost purple post without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost purple peg, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 216, "end_step": 300, "id": "54395a73-26d2-419e-b0b8-918832573067"}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand closes its fingers around the white hexagonal piece on the table, adjusting the grip to stabilize the piece."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal nut up from the black table surface."}, {"label": "goal", "start_step": 301, "end_step": 480, "id": "deb08cbe-6772-456b-9398-ad2a69218a48"}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal nut upward and leftward towards the pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost peg of the pegboard and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal nut, with fingers opening to separate from the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: retreat: Right hand retreats downward from the pegboard towards the white hexagonal nuts on the black table."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach_grasp: Right hand moves toward the white hexagonal part on the black table and adjusts fingers continuously to grasp the part."}, {"label": "goal", "start_step": 481, "end_step": 580, "id": "de68fcff-0993-40fc-be76-036e2f841e4e"}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 581, "end_step": 695, "id": "0a2b2358-29dd-4b4b-8bdd-a39f67381b9b"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost front peg of the wooden base, aligning and inserting it down the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost front peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white ring on the purple peg of the green base, with fingers opening and moving slightly upward."}, {"label": "goal", "start_step": 696, "end_step": 780, "id": "6d9d80ec-63fc-461d-9670-4b83754bfe22"}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward toward the white hexagonal ring placed on the table above the green square block."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the table surface to the position above the front purple peg."}, {"label": "subtasks", "start_step": 772, "end_step": 779, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal ring onto the front purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface with finger adjustments."}, {"label": "goal", "start_step": 781, "end_step": 930, "id": "9c8d03f9-be86-4e9b-9b18-4fb837715c01"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it to above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 929, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal ring onto the rightmost purple peg by lowering and fitting it in place."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal ring from its grip, with fingers fully spread."}, {"label": "goal", "start_step": 931, "end_step": 980, "id": "5bef4e8a-00d2-4a8c-b0a5-45bfb524d06b"}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward to approach the green cube on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting fingers to stabilize the grip."}, {"label": "goal", "start_step": 981, "end_step": 1090, "id": "93543a5a-23d3-4afb-ab66-47928b1ec320"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it above the purple peg of the block base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the green cube with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1091, "end_step": 1160, "id": "bce30a18-459d-4a2a-8c1b-6d09f577419b"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal ring from the right area of the black table."}, {"label": "goal", "start_step": 1161, "end_step": 1270, "id": "1d115787-2cc9-4bd0-997d-6080c292ed29"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal ring leftward and upward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1259, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal block on the right column of the wooden base."}, {"label": "goal", "start_step": 1271, "end_step": 1325, "id": "09e39a06-7a31-4932-9732-db32d152572c"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "goal", "start_step": 1326, "end_step": 1830, "id": "fc3e865d-d7e3-4100-bf22-ae092c223376"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to above the purple rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1461, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand reaches toward the white hexagonal block on the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1627, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the wooden base, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal block upward off the supporting block on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal block leftward to above the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1829, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 1831, "end_step": 1885, "id": "73e08d2c-1216-4720-aa35-efcc2d7025db"}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves down and right to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1886, "end_step": 2135, "id": "0e2df53d-fe89-4198-955e-8121c9ebdbc4"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and left toward the block rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 1987, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2054, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand holds the white hexagonal block and slides it upward along the purple rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal block at the top of the purple rod without moving."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white bottle with purple top on the wooden base, with fingers opening to separate from the bottle."}, {"label": "goal", "start_step": 2136, "end_step": 2215, "id": "a8fd50ad-1e0b-4da9-ac7e-e460c7b8ccce"}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward and rightward toward the green cubic object on the table."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers adjusting contact position to form a stable grip."}, {"label": "goal", "start_step": 2216, "end_step": 3090, "id": "d4f22038-b520-4ae4-b6c9-1ca9a149375c"}, {"label": "subtasks", "start_step": 2235, "end_step": 2287, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it to the upper position of the rightmost bottle with a purple rod in the middle group."}, {"label": "subtasks", "start_step": 2288, "end_step": 2384, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: other:attempt_mate: Right hand aligns the green block with the purple rod of the rightmost bottle and repeatedly adjusts the block position to attempt fitting it onto the rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2391, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the green block, which falls from the hand onto the table surface."}, {"label": "subtasks", "start_step": 2392, "end_step": 2451, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves empty towards the green block that fell on the right side of the table, approaching the block."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green block on the right table surface, with fingers adjusting to establish a firm grip."}, {"label": "subtasks", "start_step": 2475, "end_step": 2691, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reorient: Right hand rotates the green block on the table to adjust its orientation, with the block's position nearly unchanged and remaining supported by the table."}, {"label": "subtasks", "start_step": 2692, "end_step": 2767, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the adjusted green block off the table and transports it to the upper position of the rightmost bottle with the purple rod."}, {"label": "subtasks", "start_step": 2768, "end_step": 2857, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the green block with the purple rod of the rightmost bottle and fits the block downward onto the rod."}, {"label": "subtasks", "start_step": 2858, "end_step": 2954, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reorient: Right hand adjusts the orientation of the green block fitted on the purple rod, with the block's vertical position nearly unchanged."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand opens its fingers to release the green block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2970, "end_step": 3007, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves empty towards the green block on the purple rod again, approaching the block."}, {"label": "subtasks", "start_step": 3008, "end_step": 3104, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reorient: Right hand adjusts the orientation of the green block on the purple rod to make it vertically aligned with the rod."}, {"label": "home", "start_step": 3138, "end_step": 3164, "id": "EpMElq3pUudC5UNuXsX1p"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand spreads its fingers and adjusts wrist posture slightly while staying at the left side of the table, with no obvious position change. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green cubic block to the left of the wooden rack, with fingers open and not touching the block."}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green cubic block to the left of the wooden rack, with fingers open and not touching the block."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green cubic block to the left of the wooden rack, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the upper position of the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the green block with the leftmost purple post by inserting the post into the hole of the green block."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the green block fitted on the leftmost purple post without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost purple peg, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand closes its fingers around the white hexagonal piece on the table, adjusting the grip to stabilize the piece."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal nut up from the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal nut upward and leftward towards the pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost peg of the pegboard and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal nut, with fingers opening to separate from the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: retreat: Right hand retreats downward from the pegboard towards the white hexagonal nuts on the black table."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach_grasp: Right hand moves toward the white hexagonal part on the black table and adjusts fingers continuously to grasp the part."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost front peg of the wooden base, aligning and inserting it down the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost front peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white ring on the purple peg of the green base, with fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward toward the white hexagonal ring placed on the table above the green square block."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the table surface to the position above the front purple peg."}, {"label": "subtasks", "start_step": 772, "end_step": 779, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal ring onto the front purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface with finger adjustments."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it to above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 929, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal ring onto the rightmost purple peg by lowering and fitting it in place."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal ring from its grip, with fingers fully spread."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward to approach the green cube on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it above the purple peg of the block base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the green cube with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal ring from the right area of the black table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal ring leftward and upward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1259, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal block on the right column of the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to above the purple rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1461, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand reaches toward the white hexagonal block on the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1627, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the wooden base, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal block upward off the supporting block on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal block leftward to above the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1829, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves down and right to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and left toward the block rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 1987, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2054, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand holds the white hexagonal block and slides it upward along the purple rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal block at the top of the purple rod without moving."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white bottle with purple top on the wooden base, with fingers opening to separate from the bottle."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward and rightward toward the green cubic object on the table."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers adjusting contact position to form a stable grip."}, {"label": "subtasks", "start_step": 2235, "end_step": 2287, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it to the upper position of the rightmost bottle with a purple rod in the middle group."}, {"label": "subtasks", "start_step": 2288, "end_step": 2384, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: other:attempt_mate: Right hand aligns the green block with the purple rod of the rightmost bottle and repeatedly adjusts the block position to attempt fitting it onto the rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2391, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the green block, which falls from the hand onto the table surface."}, {"label": "subtasks", "start_step": 2392, "end_step": 2451, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves empty towards the green block that fell on the right side of the table, approaching the block."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green block on the right table surface, with fingers adjusting to establish a firm grip."}, {"label": "subtasks", "start_step": 2475, "end_step": 2691, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reorient: Right hand rotates the green block on the table to adjust its orientation, with the block's position nearly unchanged and remaining supported by the table."}, {"label": "subtasks", "start_step": 2692, "end_step": 2767, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the adjusted green block off the table and transports it to the upper position of the rightmost bottle with the purple rod."}, {"label": "subtasks", "start_step": 2768, "end_step": 2857, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the green block with the purple rod of the rightmost bottle and fits the block downward onto the rod."}, {"label": "subtasks", "start_step": 2858, "end_step": 2954, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reorient: Right hand adjusts the orientation of the green block fitted on the purple rod, with the block's vertical position nearly unchanged."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand opens its fingers to release the green block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2970, "end_step": 3007, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves empty towards the green block on the purple rod again, approaching the block."}, {"label": "subtasks", "start_step": 3008, "end_step": 3104, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reorient: Right hand adjusts the orientation of the green block on the purple rod to make it vertically aligned with the rod."}], "episode_index": 22}
+{"source_uid": "e2957b38f7aa509b", "num_frames": 1769, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "396e0257-1dc8-4b6f-ab70-033b1cbd636e"}, {"label": "valid", "start_step": 0, "end_step": 1740, "id": "OVJQvocu_crLYyH-uJabZ"}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 111, "end_step": 230, "id": "471b5921-b171-43b8-881d-c1bdd330a7a2"}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fix it."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the leftmost purple peg."}, {"label": "goal", "start_step": 231, "end_step": 355, "id": "4003d3b9-1184-4648-98b3-675515146f58"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the green pillar on the table."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the green pillar."}, {"label": "goal", "start_step": 356, "end_step": 475, "id": "677650a4-8343-4339-bf94-6a25d51c2162"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block with a central hole from the green base on the black table."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the leftmost purple post of the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple post of the wooden rack."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 476, "end_step": 535, "id": "1aa7db19-d201-421a-8036-be25ed119f01"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 536, "end_step": 665, "id": "01c377e5-50a7-4e80-bd62-8f5f97f9bc8b"}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the upper wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the target purple rod of the wooden base and adjusts it to fit stably."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "goal", "start_step": 666, "end_step": 725, "id": "779fc05a-3476-4656-8292-3fdfa61d0bde"}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing fingers around it."}, {"label": "goal", "start_step": 726, "end_step": 875, "id": "822780e0-4fb4-4edc-abf5-e1e21cc92569"}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 876, "end_step": 925, "id": "03677f76-e753-46ca-860a-03be02e21328"}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white block on the wooden base and moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 926, "end_step": 1050, "id": "d5dd3b4b-e959-4f3a-ab3b-c92e759897d7"}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green hexagonal block toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1041, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1042, "end_step": 1049, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green hexagonal block and moves slightly upward."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1051, "end_step": 1105, "id": "2cab54d2-48c0-461b-9d64-b83175800e58"}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1106, "end_step": 1205, "id": "4f92b77a-3ed3-46ec-b2f2-66fafb2a25b0"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the wooden base."}, {"label": "goal", "start_step": 1206, "end_step": 1260, "id": "fec169f9-c8f4-4de5-9eed-7cdfc630b7c1"}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1261, "end_step": 1375, "id": "c287fcc1-8b99-4ae8-9249-639bfa752c1a"}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the wooden base."}, {"label": "goal", "start_step": 1376, "end_step": 1420, "id": "87245740-f1f0-41e6-9b7f-c04a28c64864"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1421, "end_step": 1530, "id": "9f4878f3-5984-4e47-8780-74e5c49ff8c7"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the purple rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 1531, "end_step": 1600, "id": "d1a4f246-d67b-4b28-8735-eb156eac9d01"}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the area near the wooden bottle tray towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1601, "end_step": 1700, "id": "f20bc3c8-1491-4aec-aa58-dbbb8b3efd91"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the purple-capped bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the purple-capped bottle to secure the fitting."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the bottle tray area."}, {"label": "home", "start_step": 1741, "end_step": 1768, "id": "m7uhEZfgDaUyi4zmWXpV1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block in front of the wooden rack."}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fix it."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the leftmost purple peg."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the green pillar on the table."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the green pillar."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block with a central hole from the green base on the black table."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the leftmost purple post of the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple post of the wooden rack."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the upper wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the target purple rod of the wooden base and adjusts it to fit stably."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing fingers around it."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white block on the wooden base and moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green hexagonal block toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1041, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1042, "end_step": 1049, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green hexagonal block and moves slightly upward."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the purple rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the area near the wooden bottle tray towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the purple-capped bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the purple-capped bottle to secure the fitting."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the bottle tray area."}], "episode_index": 23}
+{"source_uid": "dcc4b0af3a78025b", "num_frames": 1663, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture from an upward-pointing closed position to an open extended position at the left side of the workspace, making no contact with any object. | Right hand: reach: Right hand moves from the right initial position downward and left toward the green hexagonal nut on the black table surface, with open fingers and no contact with any object during movement."}, {"label": "goal", "start_step": 0, "end_step": 105, "id": "0a255f0d-545b-407a-a86d-ee5a981f02c2"}, {"label": "valid", "start_step": 0, "end_step": 1634, "id": "VbwepzOK_Vm6mRXQmKqRo"}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves from the right initial position downward and left toward the green hexagonal nut on the black table surface, with open fingers and no contact with any object during movement."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, adjusting finger positions and closing fingers around the nut to form a grasp while the nut remains on the table surface."}, {"label": "goal", "start_step": 106, "end_step": 225, "id": "ba11b9ae-a287-4cd0-b703-4086f27867b1"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 150, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit onto the peg, adjusting position to seat the block on top of the existing green block on the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the seated green hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward from above the wooden peg assembly toward the white hexagonal nut on the black table surface, with fingers kept open."}, {"label": "goal", "start_step": 226, "end_step": 270, "id": "c55f0b27-0a00-469e-bcc0-cc4aeaa11adf"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 271, "end_step": 370, "id": "535b5b55-1f31-4d9b-a0ee-06e4567758c1"}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: transport: Right hand moves the lifted white hexagonal nut toward the top of the empty purple peg on the wooden peg assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple peg, lowers the nut onto the peg to complete the assembly, opens fingers to release the nut."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty downward and backward away from the wooden peg assembly, retreating from the previous operation area with fingers slightly open."}, {"label": "goal", "start_step": 371, "end_step": 435, "id": "76519428-88c9-4d60-91c6-f16c66cf2742"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface, approaching the target with open fingers."}, {"label": "subtasks", "start_step": 412, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface to establish a grip on the object."}, {"label": "goal", "start_step": 436, "end_step": 560, "id": "387479e9-3384-49d8-bfa9-70d5ec8f7b74"}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface while moving it upward to the area directly above the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal nut with the empty purple peg, lowering the nut to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward from the upper section of the block rack toward the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 561, "end_step": 610, "id": "5490fd26-35ae-481d-82dd-a85e6c843e72"}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers to form a stable grip around the white hexagonal nut on the table."}, {"label": "goal", "start_step": 611, "end_step": 705, "id": "48ba9832-b9d8-4e94-8b49-65e8c6cdd52b"}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift: Right hand raises the grasped white hexagonal nut upward until it is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the empty purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate_release: Right hand positions the white hexagonal nut over the purple peg, lowers the nut to fit onto the peg, and opens fingers to release the secured nut."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the table surface near the wooden assembly base, with fingers held open as it approaches the target."}, {"label": "goal", "start_step": 706, "end_step": 760, "id": "c7d611ce-71e1-4da3-b6e7-000aa9533ff5"}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip on the object, which remains resting on the table surface."}, {"label": "goal", "start_step": 761, "end_step": 850, "id": "57be4c21-27c7-46ba-90aa-3f64f1bfe1fb"}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block fully off the table surface and moves it upward to position it directly above the empty purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg and lowers the block to fit it securely onto the peg as part of the assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the white hexagonal post along the purple rod on the wooden base until the post is fully seated and supported by the base."}, {"label": "goal", "start_step": 851, "end_step": 915, "id": "429b3cd4-b92b-4c3e-9695-9a75ab6aeb4f"}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface near the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds a white hexagonal nut resting on the dark table surface without moving."}, {"label": "goal", "start_step": 916, "end_step": 1000, "id": "ad9c12aa-3d5a-43ed-989b-549463caf47e"}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden assembly block and lowers the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the purple cylindrical rod on the wooden assembly base, breaking contact with the rod."}, {"label": "goal", "start_step": 1001, "end_step": 1070, "id": "f282e188-1041-4a19-87eb-a23d495a0d9b"}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut placed on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, adjusting finger contact positions to form a grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal ring resting on the black table surface without any observable movement."}, {"label": "goal", "start_step": 1071, "end_step": 1165, "id": "397b709f-d04f-4a31-bcf5-352d5c41f849"}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface, moves it upward and leftward to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal ring with the purple rod on the wooden base, lowers the ring to fit onto the rod, opens fingers to separate from the assembled ring."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the dark table surface."}, {"label": "goal", "start_step": 1166, "end_step": 1240, "id": "fa54bfca-a4b7-4789-97a5-d0f741fdbbcb"}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers to make contact and establish a grip on the white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal nut steadily with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift: Right hand grips the white hexagonal block resting on the dark table surface and lifts it upward until the block is fully separated from the table."}, {"label": "goal", "start_step": 1241, "end_step": 1410, "id": "9dd9b5f4-76c8-4cc8-8889-ade60935a9c2"}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the wooden base, moving the block to the position directly above the purple vertical rod on the base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1394, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, lowers the block, and adjusts its position to fit the block securely onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers gradually to release the assembled white hexagonal block, and moves the fingers slightly away from the block surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward from the area adjacent to the block stack to approach the green hexagonal block resting on the table surface."}, {"label": "goal", "start_step": 1411, "end_step": 1475, "id": "1f109e3f-3f65-45c5-9cb2-ca98609db9e9"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1476, "end_step": 1595, "id": "1b55b4f8-446f-445e-b116-80fb7ee2715b"}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green block off the table and transports it upward to the position directly above the purple-topped peg on the wooden block base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1574, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the purple-topped peg, fitting the block onto the top of the peg."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the green block down along the peg until the block rests stably on the supporting white block below."}, {"label": "home", "start_step": 1635, "end_step": 1662, "id": "wF6OboT5nniZtkZ39e9EK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture from an upward-pointing closed position to an open extended position at the left side of the workspace, making no contact with any object. | Right hand: reach: Right hand moves from the right initial position downward and left toward the green hexagonal nut on the black table surface, with open fingers and no contact with any object during movement."}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves from the right initial position downward and left toward the green hexagonal nut on the black table surface, with open fingers and no contact with any object during movement."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, adjusting finger positions and closing fingers around the nut to form a grasp while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 150, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit onto the peg, adjusting position to seat the block on top of the existing green block on the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the seated green hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward from above the wooden peg assembly toward the white hexagonal nut on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: transport: Right hand moves the lifted white hexagonal nut toward the top of the empty purple peg on the wooden peg assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple peg, lowers the nut onto the peg to complete the assembly, opens fingers to release the nut."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty downward and backward away from the wooden peg assembly, retreating from the previous operation area with fingers slightly open."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface, approaching the target with open fingers."}, {"label": "subtasks", "start_step": 412, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface to establish a grip on the object."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface while moving it upward to the area directly above the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal nut with the empty purple peg, lowering the nut to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward from the upper section of the block rack toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers to form a stable grip around the white hexagonal nut on the table."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift: Right hand raises the grasped white hexagonal nut upward until it is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the empty purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate_release: Right hand positions the white hexagonal nut over the purple peg, lowers the nut to fit onto the peg, and opens fingers to release the secured nut."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the table surface near the wooden assembly base, with fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip on the object, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block fully off the table surface and moves it upward to position it directly above the empty purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg and lowers the block to fit it securely onto the peg as part of the assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the white hexagonal post along the purple rod on the wooden base until the post is fully seated and supported by the base."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface near the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds a white hexagonal nut resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden assembly block and lowers the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the purple cylindrical rod on the wooden assembly base, breaking contact with the rod."}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut placed on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, adjusting finger contact positions to form a grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal ring resting on the black table surface without any observable movement."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface, moves it upward and leftward to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal ring with the purple rod on the wooden base, lowers the ring to fit onto the rod, opens fingers to separate from the assembled ring."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the dark table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers to make contact and establish a grip on the white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal nut steadily with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift: Right hand grips the white hexagonal block resting on the dark table surface and lifts it upward until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the wooden base, moving the block to the position directly above the purple vertical rod on the base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1394, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, lowers the block, and adjusts its position to fit the block securely onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers gradually to release the assembled white hexagonal block, and moves the fingers slightly away from the block surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward from the area adjacent to the block stack to approach the green hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green block off the table and transports it upward to the position directly above the purple-topped peg on the wooden block base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1574, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the purple-topped peg, fitting the block onto the top of the peg."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the green block down along the peg until the block rests stably on the supporting white block below."}], "episode_index": 24}
+{"source_uid": "06a115c3668dc58e", "num_frames": 1725, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block near the wooden base, without contacting the block."}, {"label": "goal", "start_step": 0, "end_step": 95, "id": "537c444f-76f2-4155-aab5-973cb463e447"}, {"label": "valid", "start_step": 0, "end_step": 1697, "id": "k27i3JW4YH7kodI9Mco4y"}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing to form a stable grip on the block."}, {"label": "subtasks", "start_step": 82, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 96, "end_step": 200, "id": "72398e99-4dd9-4948-9d70-9a6ffff317d5"}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it above the purple vertical pegs."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the left purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the assembly rack area to approach the white hexagonal piece on the black table."}, {"label": "goal", "start_step": 201, "end_step": 285, "id": "e57d04d4-5488-4774-a76e-fa1bca0ed16e"}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the left table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 286, "end_step": 385, "id": "5e387319-f6da-4123-9d07-3cc09e9d51b2"}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and rightward toward the peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the vertical peg of the peg board, pressing it downward to fully fit onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white part on the pegboard, with fingers opening from closed position."}, {"label": "goal", "start_step": 386, "end_step": 440, "id": "ee8b6133-84df-45d6-b165-5cde77cbb8fb"}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing around the part."}, {"label": "goal", "start_step": 441, "end_step": 585, "id": "16179a7c-c52c-4f19-bfef-b3248c33c742"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it upward toward the pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the peg on the pegboard and fits it onto the peg for assembly."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block from its grip, leaving it on the purple peg of the wooden base."}, {"label": "goal", "start_step": 586, "end_step": 645, "id": "6f875525-9ace-405c-931f-5286af48d5b2"}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 646, "end_step": 740, "id": "578bd003-356b-4aee-bd19-194b0920b743"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the area above the wooden base's purple peg."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the middle purple peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 741, "end_step": 800, "id": "818d3493-7cbc-4587-9e1d-e3aeb3be1332"}, {"label": "subtasks", "start_step": 758, "end_step": 801, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand moves toward the green hexagonal block on the table and closes its fingers to grasp the block."}, {"label": "goal", "start_step": 801, "end_step": 895, "id": "1361e86b-0d28-49be-8933-22f54192efc7"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand fits the green hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the purple rod on the pegboard, with fingers opening to separate from the rod."}, {"label": "goal", "start_step": 896, "end_step": 960, "id": "26f52ce2-76eb-48a7-b542-c9b260d8e0c1"}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "goal", "start_step": 961, "end_step": 1075, "id": "cf7c768f-6882-4ec0-9434-05104a20eae9"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and transports it toward the peg assembly on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1057, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal piece onto the target peg of the wooden block set."}, {"label": "subtasks", "start_step": 1058, "end_step": 1064, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the target peg without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it into position."}, {"label": "goal", "start_step": 1076, "end_step": 1135, "id": "0feb8459-c6f7-43ab-b555-0fccc4d7c12c"}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing."}, {"label": "goal", "start_step": 1136, "end_step": 1260, "id": "7762e4eb-2e3a-4931-aec6-7f3be0a1327e"}, {"label": "subtasks", "start_step": 1148, "end_step": 1154, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1251, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1261, "end_step": 1315, "id": "029dd630-6470-4e9f-a68c-888d97703aa3"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1316, "end_step": 1433, "id": "c32c57ee-1742-461a-9008-14f7d6a684b1"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1358, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hollow cylinder on the wooden rack, with fingers opening and separating from the cylinder."}, {"label": "goal", "start_step": 1434, "end_step": 1503, "id": "d5ab6de9-431a-4884-a093-26ad84d11c8b"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the green block on the right area of the table, moving downward and rightward."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing around the block to form a grip."}, {"label": "goal", "start_step": 1504, "end_step": 1663, "id": "eb0886a7-c7e3-4930-b532-286fabac5768"}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it toward the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1568, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand slides the green square block down along the rightmost peg until it rests on the white block at the bottom of the peg."}, {"label": "home", "start_step": 1698, "end_step": 1724, "id": "_JA0KaW2GBVXUaFpJwkLU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block near the wooden base, without contacting the block."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing to form a stable grip on the block."}, {"label": "subtasks", "start_step": 82, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it above the purple vertical pegs."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the left purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the assembly rack area to approach the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the left table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and rightward toward the peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the vertical peg of the peg board, pressing it downward to fully fit onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white part on the pegboard, with fingers opening from closed position."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing around the part."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it upward toward the pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the peg on the pegboard and fits it onto the peg for assembly."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block from its grip, leaving it on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the area above the wooden base's purple peg."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the middle purple peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 758, "end_step": 801, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand moves toward the green hexagonal block on the table and closes its fingers to grasp the block."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand fits the green hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the purple rod on the pegboard, with fingers opening to separate from the rod."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and transports it toward the peg assembly on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1057, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal piece onto the target peg of the wooden block set."}, {"label": "subtasks", "start_step": 1058, "end_step": 1064, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the target peg without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it into position."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1148, "end_step": 1154, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1251, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1358, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hollow cylinder on the wooden rack, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the green block on the right area of the table, moving downward and rightward."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it toward the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1568, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand slides the green square block down along the rightmost peg until it rests on the white block at the bottom of the peg."}], "episode_index": 25}
+{"source_uid": "c6dcf9b30f858c09", "num_frames": 1954, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty toward the green block on the middle lower area of the black table."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "ac826b52-c764-40dd-a6be-21859b034140"}, {"label": "valid", "start_step": 0, "end_step": 1921, "id": "xVx8xP-5P9aYNkiP5oe94"}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand makes contact with the green block, fingers adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 111, "end_step": 220, "id": "26679bfd-a8fe-4958-82fb-a722d9987bf1"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green cubic block towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden board."}, {"label": "goal", "start_step": 221, "end_step": 280, "id": "d27cfab4-97e3-45ff-a53d-92ab1cead2ca"}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing."}, {"label": "goal", "start_step": 281, "end_step": 380, "id": "779a1299-6493-4a3d-94ba-7ae20b229bb2"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 381, "end_step": 455, "id": "38bf0817-8931-4d94-a446-a30b76951a70"}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 456, "end_step": 585, "id": "e2553a70-f928-4dd4-bff1-5c6c212ac9d1"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost vertical peg of the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "goal", "start_step": 586, "end_step": 650, "id": "ece136c4-3c88-4f90-bd95-106d9b84136f"}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 651, "end_step": 760, "id": "2dd19ee0-9495-4034-8da5-f79fe753687d"}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves upward away from the purple rod after completing placement."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white cylindrical block on the purple rod upwards."}, {"label": "goal", "start_step": 761, "end_step": 815, "id": "9988bf58-3e0c-4ad0-a15e-629a81e86d2c"}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches towards the green hexagonal block on the black table."}, {"label": "goal", "start_step": 816, "end_step": 950, "id": "ae05d3c6-8b2a-4f2b-953f-c25e9edfaa16"}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 945, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 951, "end_step": 1020, "id": "b6d8a4b1-2bf2-4288-a4f5-7677ed85d31f"}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1021, "end_step": 1150, "id": "04d72dff-1680-4a19-bb8c-944910f79028"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal object, fingers open to separate from the object."}, {"label": "goal", "start_step": 1151, "end_step": 1195, "id": "256f6e23-e30a-4d36-9c55-1b0c1467fc61"}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "goal", "start_step": 1196, "end_step": 1320, "id": "c2fce380-b9e7-4d7b-bd1e-acdf4063a050"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the purple rod."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the purple rod and moves away slightly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black tabletop."}, {"label": "goal", "start_step": 1321, "end_step": 1375, "id": "4e76a3a1-e58c-48d8-80a4-090a0cd933d3"}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "goal", "start_step": 1376, "end_step": 1725, "id": "b30b6145-0c61-4141-b76d-4dbf2966df32"}, {"label": "subtasks", "start_step": 1388, "end_step": 1447, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block toward the purple vertical rod on the wooden board."}, {"label": "subtasks", "start_step": 1448, "end_step": 1717, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the green cubic block on the black table surface."}, {"label": "goal", "start_step": 1726, "end_step": 1775, "id": "65a6438c-3280-4c5e-b01b-cd29363c5744"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing."}, {"label": "goal", "start_step": 1776, "end_step": 1890, "id": "4ea5c3a0-d9e0-4a7d-af45-75b699907717"}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the white pillar on the right of the wooden tray."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block onto the top of the target white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the green cubic block and retreats from the wooden tray."}, {"label": "home", "start_step": 1922, "end_step": 1953, "id": "IHVqz0nLV3M24wmGHIM4j"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty toward the green block on the middle lower area of the black table."}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand makes contact with the green block, fingers adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green cubic block towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost vertical peg of the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves upward away from the purple rod after completing placement."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white cylindrical block on the purple rod upwards."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 945, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal object, fingers open to separate from the object."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the purple rod."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the purple rod and moves away slightly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 1388, "end_step": 1447, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block toward the purple vertical rod on the wooden board."}, {"label": "subtasks", "start_step": 1448, "end_step": 1717, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the white pillar on the right of the wooden tray."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block onto the top of the target white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the green cubic block and retreats from the wooden tray."}], "episode_index": 26}
+{"source_uid": "cff8f003c1f7a183", "num_frames": 2074, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves while empty from its initial raised position on the right side of the workspace, traveling downward and left toward the green hexagonal block on the table in front of the wooden peg set, with fingers held extended as it approaches the target block."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "5c1e721c-3195-4f2f-9b35-d11e486ed5d1"}, {"label": "valid", "start_step": 0, "end_step": 2041, "id": "Eo1Ayc693MLTeEx45R6yS"}, {"label": "subtasks", "start_step": 90, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal block on the table surface, adjusting finger positions to establish contact and form a grip on the block."}, {"label": "goal", "start_step": 111, "end_step": 220, "id": "e29a9fe2-e0b3-42ed-9a60-58a6ea6c30c2"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, positioning the block to fit onto the rod during assembly."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple rod until it rests on the wooden base, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward from the area above the pegboard toward the white hexagonal nut placed on the table surface, with no contact to the nut."}, {"label": "goal", "start_step": 221, "end_step": 275, "id": "76716364-a50e-4b2e-8f71-d213fc185748"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 276, "end_step": 385, "id": "d33985de-eaf0-4674-8fa1-590098d19579"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the pegboard, making slight positional adjustments to fit the nut onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple peg of the wooden assembly base, fingers opening to release the block once it is supported by the peg."}, {"label": "goal", "start_step": 386, "end_step": 510, "id": "a223df68-ce6e-4f55-9074-79500aa05e14"}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip with the block remaining on the table."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it toward the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift: Right hand grips the white hexagonal nut resting on the black table surface and lifts it upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 511, "end_step": 655, "id": "2949fd07-bf84-4d20-a374-338911562f08"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: transport: Right hand moves the gripped white hexagonal nut upward and toward the purple posts on the wooden block assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the target purple post on the wooden base and lowers it to fit securely onto the post."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, separating from the nut on the purple post."}, {"label": "goal", "start_step": 656, "end_step": 710, "id": "4d6644f7-73be-402f-be49-1f5054dbb9a6"}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut placed on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains on the table surface."}, {"label": "goal", "start_step": 711, "end_step": 825, "id": "2453a378-822c-4540-b170-25c6daae1959"}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the table surface, moving it upward to position it above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 758, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: place_release: Right hand lowers the aligned white hexagonal nut onto the purple peg until the nut rests stably on the wooden base, with fingers opening to release grip on the nut."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward with open fingers, empty, approaching the green hexagonal nut resting on the black table surface near the wooden assembly base."}, {"label": "goal", "start_step": 826, "end_step": 880, "id": "8db400c4-91bb-4bb5-950d-9d0b5fb27ea6"}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table, making slight adjustments to establish a stable grip on the nut."}, {"label": "goal", "start_step": 881, "end_step": 995, "id": "3e1b1c1d-42be-461c-97e3-fe5e6b93af1c"}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut fully off the table surface, moves it upward and leftward to position it directly above the unoccupied purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal nut with the purple rod, lowers the nut to slide it fully onto the rod until it rests on the supporting white nut below, opens fingers to release the assembled nut."}, {"label": "goal", "start_step": 996, "end_step": 1115, "id": "8fd4d389-c790-4073-b089-a971bd4fb057"}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a grip on the nut."}, {"label": "goal", "start_step": 1116, "end_step": 1280, "id": "1ce566fd-27dd-446d-b190-0502f64c848f"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table, transports it upward and forward to position it above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release_retreat: Right hand opens fingers to release the fitted white hexagonal nut, moving the empty hand backward away from the assembled block set."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward from above the wooden block set toward the upright white hexagonal nut on the table near the block base, with fingers held in a partially open posture."}, {"label": "goal", "start_step": 1281, "end_step": 1540, "id": "3b05fb96-7047-4d54-82b9-28cf1f0c2d11"}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers to contact the upright white hexagonal nut, causing the nut to topple over onto the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens fingers to release contact with the toppled white hexagonal nut, moving slightly upward and away from the nut."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves leftward across the table surface toward the toppled white hexagonal nut, keeping fingers open as it approaches the target."}, {"label": "subtasks", "start_step": 1410, "end_step": 1507, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the toppled white hexagonal nut on the table, making small adjustments to finger positions and wrist angle to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1508, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily above the table surface, with no visible movement of the hand, fingers, or the held nut."}, {"label": "goal", "start_step": 1541, "end_step": 1675, "id": "053d921d-1602-4343-bb95-fd6e25b9801f"}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod, mating the nut with the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens fingers to release the mated white hexagonal nut, separating the hand from the nut."}, {"label": "goal", "start_step": 1676, "end_step": 1750, "id": "272ef555-4d47-4b4f-b9f4-93a3b39cd098"}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple post of the wooden block base, moves downward toward the white hexagonal nut on the table surface with extended fingers approaching the target nut."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the black table surface, fingers gradually close around the nut, with small finger adjustments to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 1751, "end_step": 1850, "id": "9d469720-01f6-44af-a991-42623dedcacb"}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: transport: Right hand moves the held white hexagonal block through the air toward the purple vertical post on the wooden block stand."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post and lowers the block to fit onto the post, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens fingers to release the light purple cylinder placed on the rightmost position of the block rack, separating from the cylinder."}, {"label": "goal", "start_step": 1851, "end_step": 1910, "id": "d25b9ce5-a045-45a6-b945-409a8ef51d5f"}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward toward the green block resting on the black table surface while keeping the hand empty."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green block on the table to form a stable grasp, with the block still on the table surface."}, {"label": "goal", "start_step": 1911, "end_step": 2000, "id": "c8d89685-5320-4519-984b-c65dc73043c6"}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: transport: Right hand carries the green block upward and leftward through the air to position it directly above the light purple cylinder on the block rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the green block with the light purple cylinder below, moves the block downward to fit it securely onto the top of the cylinder."}, {"label": "home", "start_step": 2042, "end_step": 2073, "id": "5UcDM5aSfRAImshgwgsye"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves while empty from its initial raised position on the right side of the workspace, traveling downward and left toward the green hexagonal block on the table in front of the wooden peg set, with fingers held extended as it approaches the target block."}, {"label": "subtasks", "start_step": 90, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal block on the table surface, adjusting finger positions to establish contact and form a grip on the block."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, positioning the block to fit onto the rod during assembly."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple rod until it rests on the wooden base, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward from the area above the pegboard toward the white hexagonal nut placed on the table surface, with no contact to the nut."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the pegboard, making slight positional adjustments to fit the nut onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple peg of the wooden assembly base, fingers opening to release the block once it is supported by the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip with the block remaining on the table."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it toward the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift: Right hand grips the white hexagonal nut resting on the black table surface and lifts it upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: transport: Right hand moves the gripped white hexagonal nut upward and toward the purple posts on the wooden block assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the target purple post on the wooden base and lowers it to fit securely onto the post."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, separating from the nut on the purple post."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut placed on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the table surface, moving it upward to position it above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 758, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: place_release: Right hand lowers the aligned white hexagonal nut onto the purple peg until the nut rests stably on the wooden base, with fingers opening to release grip on the nut."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward with open fingers, empty, approaching the green hexagonal nut resting on the black table surface near the wooden assembly base."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table, making slight adjustments to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut fully off the table surface, moves it upward and leftward to position it directly above the unoccupied purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal nut with the purple rod, lowers the nut to slide it fully onto the rod until it rests on the supporting white nut below, opens fingers to release the assembled nut."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table, transports it upward and forward to position it above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release_retreat: Right hand opens fingers to release the fitted white hexagonal nut, moving the empty hand backward away from the assembled block set."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward from above the wooden block set toward the upright white hexagonal nut on the table near the block base, with fingers held in a partially open posture."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers to contact the upright white hexagonal nut, causing the nut to topple over onto the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens fingers to release contact with the toppled white hexagonal nut, moving slightly upward and away from the nut."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves leftward across the table surface toward the toppled white hexagonal nut, keeping fingers open as it approaches the target."}, {"label": "subtasks", "start_step": 1410, "end_step": 1507, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the toppled white hexagonal nut on the table, making small adjustments to finger positions and wrist angle to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1508, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily above the table surface, with no visible movement of the hand, fingers, or the held nut."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod, mating the nut with the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens fingers to release the mated white hexagonal nut, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple post of the wooden block base, moves downward toward the white hexagonal nut on the table surface with extended fingers approaching the target nut."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the black table surface, fingers gradually close around the nut, with small finger adjustments to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: transport: Right hand moves the held white hexagonal block through the air toward the purple vertical post on the wooden block stand."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post and lowers the block to fit onto the post, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens fingers to release the light purple cylinder placed on the rightmost position of the block rack, separating from the cylinder."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward toward the green block resting on the black table surface while keeping the hand empty."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green block on the table to form a stable grasp, with the block still on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: transport: Right hand carries the green block upward and leftward through the air to position it directly above the light purple cylinder on the block rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the green block with the light purple cylinder below, moves the block downward to fit it securely onto the top of the cylinder."}], "episode_index": 27}
+{"source_uid": "5265b91e52729003", "num_frames": 1954, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface, with wrist rotating slightly downward and fingers kept open."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "5e69cf34-d63d-4086-8d02-f60607474b46"}, {"label": "valid", "start_step": 0, "end_step": 1926, "id": "6NimkTW2Sra8NaGYPJFge"}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table surface to establish a stable grasp."}, {"label": "goal", "start_step": 126, "end_step": 255, "id": "1476df6c-ac81-4eca-bb65-7cb871cec99e"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost purple peg of the rack."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the rack by inserting it downwards along the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green hexagonal block from the leftmost purple peg and retreats downwards."}, {"label": "goal", "start_step": 256, "end_step": 305, "id": "5eade3fa-ec79-4889-a0bb-ed6960093365"}, {"label": "subtasks", "start_step": 270, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg rack area to approach the white hexagonal block on the black table surface, without making contact."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts to form a stable grasp."}, {"label": "goal", "start_step": 306, "end_step": 440, "id": "a00774fd-4d5a-45d4-8cb5-f4db543a55b7"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple peg on the rack."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal part onto the front-left purple peg of the wooden base, releasing its grip."}, {"label": "goal", "start_step": 441, "end_step": 490, "id": "4e25c86a-4a16-406a-b4c7-f806a6ae6e0e"}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "goal", "start_step": 491, "end_step": 630, "id": "c426e29a-c55c-4147-8553-150f04edba1d"}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the table toward the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal part onto the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand assembles the white hollow cylindrical part onto the rightmost purple vertical post on the wooden base and releases its grip."}, {"label": "goal", "start_step": 631, "end_step": 705, "id": "3a2f1649-067f-4c59-a521-758f00691d02"}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal piece on the black table and lifts it off the table surface."}, {"label": "goal", "start_step": 706, "end_step": 820, "id": "0a6cc755-24c5-44fc-aaff-a426363d4027"}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod, with fingers opening and separating from the piece."}, {"label": "goal", "start_step": 821, "end_step": 885, "id": "948cc02a-f833-4697-a533-27087d2ea7d6"}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the purple peg of the wooden board and releases the piece."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table below the wooden peg board."}, {"label": "subtasks", "start_step": 855, "end_step": 907, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 886, "end_step": 1070, "id": "b6701200-43f2-48a2-9caf-45c3170f5bb1"}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward and rightward to the top of the rightmost purple rod."}, {"label": "subtasks", "start_step": 922, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost purple rod and inserts it downward along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases it."}, {"label": "goal", "start_step": 1071, "end_step": 1130, "id": "893254f8-49fc-4e99-b8f2-149e12e52b99"}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal ring on the table and grasps it."}, {"label": "goal", "start_step": 1131, "end_step": 1240, "id": "e4370728-881c-41e4-9513-ba7a5d36f441"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring and transports it to the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base, with fingers opening from a closed gripping position."}, {"label": "goal", "start_step": 1241, "end_step": 1294, "id": "72846bb0-7d2c-4803-b16e-2fa9433f16f4"}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1295, "end_step": 1419, "id": "7d685aea-a323-40ae-a9c6-4cc983f11c6b"}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface as fingers close around the object."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the top of the purple rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases the grip."}, {"label": "goal", "start_step": 1420, "end_step": 1479, "id": "d4ce91a3-5906-4192-be1e-b0914abf0540"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1480, "end_step": 1679, "id": "2172763b-1b0a-4a63-845c-85ac95c78ca4"}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing."}, {"label": "goal", "start_step": 1680, "end_step": 1689, "id": "8261f2bc-610f-453a-9cdb-db3e0f61f629"}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the black table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1690, "end_step": 1884, "id": "b81ab2da-c15b-4b36-ac94-e1a8bec696f9"}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green ring from the table toward the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1740, "end_step": 1867, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring with the rightmost white bottle by aligning the ring's hole with the bottle's top peg and lowering it onto the bottle."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring, with fingers opening and separating from the ring."}, {"label": "home", "start_step": 1927, "end_step": 1953, "id": "6AEmqB9Z2i3DW_quqR-O0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface, with wrist rotating slightly downward and fingers kept open."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost purple peg of the rack."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the rack by inserting it downwards along the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green hexagonal block from the leftmost purple peg and retreats downwards."}, {"label": "subtasks", "start_step": 270, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg rack area to approach the white hexagonal block on the black table surface, without making contact."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts to form a stable grasp."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple peg on the rack."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal part onto the front-left purple peg of the wooden base, releasing its grip."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the table toward the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal part onto the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand assembles the white hollow cylindrical part onto the rightmost purple vertical post on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal piece on the black table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the purple peg of the wooden board and releases the piece."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table below the wooden peg board."}, {"label": "subtasks", "start_step": 855, "end_step": 907, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward and rightward to the top of the rightmost purple rod."}, {"label": "subtasks", "start_step": 922, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost purple rod and inserts it downward along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal ring on the table and grasps it."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring and transports it to the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base, with fingers opening from a closed gripping position."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface as fingers close around the object."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the top of the purple rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the black table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green ring from the table toward the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1740, "end_step": 1867, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring with the rightmost white bottle by aligning the ring's hole with the bottle's top peg and lowering it onto the bottle."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring, with fingers opening and separating from the ring."}], "episode_index": 28}
+{"source_uid": "119f9fa99ff61977", "num_frames": 1883, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table top."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "8f930eca-6f5f-4b9a-97a5-90656765dc66"}, {"label": "valid", "start_step": 0, "end_step": 1854, "id": "97SRYQAY9nt_qfPz9Ycr_"}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 116, "end_step": 220, "id": "08eb4bf9-07ae-4ec2-976c-457abd84860f"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the wooden peg base."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost peg of the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down to the bottom of the peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the purple rod on the wooden base."}, {"label": "goal", "start_step": 221, "end_step": 280, "id": "d0b63af5-dd03-48d0-96c5-3caba3858b05"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the lifted white hexagonal block onto the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 281, "end_step": 420, "id": "e4e2828a-ff8c-4484-bf12-840abb63f922"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and pressing it down to fit properly."}, {"label": "subtasks", "start_step": 412, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the lower part of the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 421, "end_step": 460, "id": "6097971e-30de-4181-968c-06acd9179040"}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 461, "end_step": 570, "id": "c49ca956-af37-4bbe-8e0a-8f1db0aa9727"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the purple cylindrical part away from the wooden mounting base."}, {"label": "goal", "start_step": 571, "end_step": 690, "id": "a4fd217e-db9a-4eeb-b217-4fa22721d752"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the purple cylindrical part downward toward the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the purple cylindrical part on the black table surface and releases its grip."}, {"label": "subtasks", "start_step": 622, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 691, "end_step": 810, "id": "10e130d0-7015-4b81-8258-ceabeb702891"}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the target purple stick on the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple stick, pushing it down until it is fully seated on the stick."}, {"label": "subtasks", "start_step": 810, "end_step": 817, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is successfully mated onto the stick."}, {"label": "goal", "start_step": 811, "end_step": 870, "id": "6562ebb8-ab46-40de-b85e-ccc4b0763cd9"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 871, "end_step": 980, "id": "52e3abec-26ce-492a-9459-723b4d242fd7"}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the green hexagonal block onto the purple peg and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 981, "end_step": 1185, "id": "e7a9cee0-6e3d-45a7-a525-22adc77d30eb"}, {"label": "subtasks", "start_step": 1005, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "goal", "start_step": 1186, "end_step": 1300, "id": "870ba424-f5f2-482c-b5c0-fde3a2f1d30c"}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal object towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the target peg by aligning and fitting it onto the peg."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the rightmost rear peg of the wooden base."}, {"label": "goal", "start_step": 1301, "end_step": 1370, "id": "245b0988-06a1-47f1-924c-b0bf551f4987"}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1371, "end_step": 1455, "id": "c453c99d-8705-493a-b378-b9d6d9a791f7"}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_place: Right hand aligns the white hexagonal block with the purple rod and places it onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1456, "end_step": 1530, "id": "777ecd0c-8d6b-466b-8b3c-f05bbbae8b5d"}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block."}, {"label": "goal", "start_step": 1531, "end_step": 1640, "id": "116f168c-f3d6-47f4-807c-e65317cc76a4"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white ring and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring placed on the purple rod."}, {"label": "goal", "start_step": 1641, "end_step": 1705, "id": "20d48600-f816-4e94-b535-4b1eef5efefa"}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves from the position near the wooden block base towards the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table."}, {"label": "goal", "start_step": 1706, "end_step": 1810, "id": "c8899e7f-2264-4f1e-9b83-b73ddd45e71c"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the rightmost white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white cylinder and inserts it onto the cylinder."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the green cubic block."}, {"label": "home", "start_step": 1855, "end_step": 1882, "id": "rUwy3yplvlv49iLGeBlcp"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table top."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the wooden peg base."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost peg of the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down to the bottom of the peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the lifted white hexagonal block onto the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and pressing it down to fit properly."}, {"label": "subtasks", "start_step": 412, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the lower part of the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the purple cylindrical part away from the wooden mounting base."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the purple cylindrical part downward toward the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the purple cylindrical part on the black table surface and releases its grip."}, {"label": "subtasks", "start_step": 622, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the target purple stick on the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple stick, pushing it down until it is fully seated on the stick."}, {"label": "subtasks", "start_step": 810, "end_step": 817, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is successfully mated onto the stick."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the green hexagonal block onto the purple peg and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal object towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the target peg by aligning and fitting it onto the peg."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the rightmost rear peg of the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_place: Right hand aligns the white hexagonal block with the purple rod and places it onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white ring and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring placed on the purple rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves from the position near the wooden block base towards the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the rightmost white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white cylinder and inserts it onto the cylinder."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the green cubic block."}], "episode_index": 29}
+{"source_uid": "03f4358f4d3733e3", "num_frames": 2081, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "463d3883-9c8b-48c0-ad9b-f10147c8132b"}, {"label": "valid", "start_step": 0, "end_step": 2052, "id": "cUoZILfsVBWhd-7AnpGFm"}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut in front of the wooden pegboard with an open hand, approaching the target without making contact."}, {"label": "subtasks", "start_step": 90, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, fingers close and make fine adjustments to establish a stable grasp on the object."}, {"label": "goal", "start_step": 116, "end_step": 230, "id": "84731e51-11aa-47f3-ac34-54e1c12833db"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal nut to align with the purple peg on the wooden assembly, lowering it to fit securely onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal nut fitted on the purple peg, separating from the nut surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward from the pegboard area to approach the white hexagonal block placed on the table surface."}, {"label": "goal", "start_step": 231, "end_step": 290, "id": "1a15a771-7c93-49ff-a0dd-2fde276af560"}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table and adjusts finger positions to form a stable grasp."}, {"label": "goal", "start_step": 291, "end_step": 445, "id": "d77b77c0-080d-4e3c-818c-d04d4ec35804"}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: press_release: Right hand presses down on the top of the hexagonal block on the wooden pegboard, fingers opening to release contact with the block."}, {"label": "goal", "start_step": 446, "end_step": 510, "id": "3df033b3-9a0d-4596-87f5-c4cfe4a1c6f7"}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers closing and making small adjustments to establish a stable grasp."}, {"label": "goal", "start_step": 511, "end_step": 645, "id": "c0654bc0-5847-4ac0-b699-821ba050a2d9"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and carries it upward to the area above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and moves downward to fit the nut securely onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg without any visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward from its initial position above the assembly toward the white hexagonal nut placed on the black table in front of the wooden base, remaining empty before making contact with the nut."}, {"label": "goal", "start_step": 646, "end_step": 705, "id": "005b168c-76b5-4d8f-8455-69f3d3535cd0"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip on the nut, which remains resting on the table."}, {"label": "goal", "start_step": 706, "end_step": 810, "id": "905ba4f6-1f8c-43b2-b303-182d53025dba"}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand moves vertically upward to lift the gripped white hexagonal nut until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and horizontally toward the empty purple post mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple post, then lowers the nut to fit it securely onto the post to complete the assembly."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves from above the wooden assembly base down toward the green hexagonal block on the table surface, with no contact to the block."}, {"label": "goal", "start_step": 811, "end_step": 865, "id": "60792cb6-b566-417a-a6aa-4e013630ea24"}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions to form a stable grip while the block remains resting on the table."}, {"label": "goal", "start_step": 866, "end_step": 965, "id": "d78c13d5-ac55-472c-896a-0ee2307cc3f6"}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moving it upward to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 908, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowering the block to seat it securely on the peg supported by the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: release: Right hand opens fingers to release the seated green hexagonal block, breaking all contact between the hand and the block."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: retreat: Right hand moves empty away from the assembled green block on the wooden base, traveling back toward the area above the base."}, {"label": "goal", "start_step": 966, "end_step": 1240, "id": "2998ca8c-665a-46c9-ae1b-b5f46ef981f8"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden peg assembly toward the white hexagonal nut resting on the black table surface, keeping fingers open as it approaches the target nut."}, {"label": "subtasks", "start_step": 998, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing its fingers around the nut and making small adjustments to finger and wrist position to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1072, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reorient: Right hand holds the secured white hexagonal nut, rotating it in small increments around the vertical axis to adjust its orientation while keeping the nut positioned in nearly the same spot on the table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand holds the white hexagonal nut on the black table surface near the green block, making slight finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 1241, "end_step": 1385, "id": "1c2f44e8-e01c-482a-b7af-36285972b7a4"}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and toward the purple vertical rod on the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod on the wooden stand, adjusting position slightly before lowering the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward from above the wooden peg base toward the white hexagonal nut placed on the adjacent table surface, with fingers held slightly open."}, {"label": "goal", "start_step": 1386, "end_step": 1435, "id": "722c448b-7916-414c-b0be-16efa31c228f"}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grasp, while the nut stays resting on the table surface."}, {"label": "goal", "start_step": 1436, "end_step": 1540, "id": "fa25b615-e550-434f-a37e-4143afcbda55"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table, then moves it upward and leftward to position it directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple vertical peg, moving the nut slightly downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward from the position adjacent to the wooden block tray toward the white hexagonal nut resting on the black table surface, remaining empty and out of contact with the nut during the movement."}, {"label": "goal", "start_step": 1541, "end_step": 1585, "id": "96e3713b-9183-487f-89cd-d3a98c1c58b5"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table surface to form a stable grasp, with the nut remaining fully supported by the table."}, {"label": "goal", "start_step": 1586, "end_step": 1690, "id": "4f85c530-74e9-4e59-8759-ae978a9699dc"}, {"label": "subtasks", "start_step": 1598, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, and carries the nut upward and leftward to the position directly above the purple vertical rod mounted on the wooden block tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the top end of the purple vertical rod, moving the nut downward to fit the nut onto the rod and establish a stable nested assembly relation."}, {"label": "subtasks", "start_step": 1672, "end_step": 1679, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand moves the fitted nut downward along the purple vertical rod until the nut rests stably on the white supporting block at the rod base, opening its fingers to release the nut and separate the hand from the assembled components."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: release: Right hand opens fingers to release the purple cylindrical piece placed on the wooden block base, gradually separating fingers from the top of the purple piece."}, {"label": "goal", "start_step": 1691, "end_step": 1915, "id": "d1c5635e-1499-45c9-81b3-650d47d2e5dc"}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward toward the green block resting on the table surface, approaching the block with fingers held in a partially open position."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the green block on the table, closing fingers around the block and adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_release: Right hand lifts the grasped green block off the table surface, moves it a short distance upward and rightward, opens fingers to release the block, letting it fall onto the right area of the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1867, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward toward the green block that fell on the right side of the table, approaching the block with fingers partially open."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the green block on the right table surface, adjusting finger positions and gradually closing fingers around the block to attempt a stable grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach_grasp: Right hand moves toward the small green block on the right table surface, closes fingers to adjust and establish a stable grasp on the block, which stays on the table."}, {"label": "goal", "start_step": 1916, "end_step": 2020, "id": "4ae4b912-0ffd-4d29-addd-66f7b0ac98ee"}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, moving it upward and leftward to position it directly above the target bottle on the wooden block holder."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand slightly adjusts the position of the green block to align its central hole with the purple post on top of the target bottle."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand moves the aligned green block downward along the purple post, until the block rests stably on the top of the target bottle and is supported by the bottle."}, {"label": "home", "start_step": 2053, "end_step": 2080, "id": "yqlUYxqMdzSZVAuizJtpl"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut in front of the wooden pegboard with an open hand, approaching the target without making contact."}, {"label": "subtasks", "start_step": 90, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, fingers close and make fine adjustments to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal nut to align with the purple peg on the wooden assembly, lowering it to fit securely onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal nut fitted on the purple peg, separating from the nut surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward from the pegboard area to approach the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table and adjusts finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: press_release: Right hand presses down on the top of the hexagonal block on the wooden pegboard, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers closing and making small adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and carries it upward to the area above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and moves downward to fit the nut securely onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg without any visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward from its initial position above the assembly toward the white hexagonal nut placed on the black table in front of the wooden base, remaining empty before making contact with the nut."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip on the nut, which remains resting on the table."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand moves vertically upward to lift the gripped white hexagonal nut until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and horizontally toward the empty purple post mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple post, then lowers the nut to fit it securely onto the post to complete the assembly."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves from above the wooden assembly base down toward the green hexagonal block on the table surface, with no contact to the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions to form a stable grip while the block remains resting on the table."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moving it upward to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 908, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowering the block to seat it securely on the peg supported by the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: release: Right hand opens fingers to release the seated green hexagonal block, breaking all contact between the hand and the block."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: retreat: Right hand moves empty away from the assembled green block on the wooden base, traveling back toward the area above the base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden peg assembly toward the white hexagonal nut resting on the black table surface, keeping fingers open as it approaches the target nut."}, {"label": "subtasks", "start_step": 998, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing its fingers around the nut and making small adjustments to finger and wrist position to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1072, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reorient: Right hand holds the secured white hexagonal nut, rotating it in small increments around the vertical axis to adjust its orientation while keeping the nut positioned in nearly the same spot on the table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand holds the white hexagonal nut on the black table surface near the green block, making slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and toward the purple vertical rod on the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod on the wooden stand, adjusting position slightly before lowering the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward from above the wooden peg base toward the white hexagonal nut placed on the adjacent table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grasp, while the nut stays resting on the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table, then moves it upward and leftward to position it directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple vertical peg, moving the nut slightly downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward from the position adjacent to the wooden block tray toward the white hexagonal nut resting on the black table surface, remaining empty and out of contact with the nut during the movement."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table surface to form a stable grasp, with the nut remaining fully supported by the table."}, {"label": "subtasks", "start_step": 1598, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, and carries the nut upward and leftward to the position directly above the purple vertical rod mounted on the wooden block tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the top end of the purple vertical rod, moving the nut downward to fit the nut onto the rod and establish a stable nested assembly relation."}, {"label": "subtasks", "start_step": 1672, "end_step": 1679, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand moves the fitted nut downward along the purple vertical rod until the nut rests stably on the white supporting block at the rod base, opening its fingers to release the nut and separate the hand from the assembled components."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: release: Right hand opens fingers to release the purple cylindrical piece placed on the wooden block base, gradually separating fingers from the top of the purple piece."}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward toward the green block resting on the table surface, approaching the block with fingers held in a partially open position."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the green block on the table, closing fingers around the block and adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_release: Right hand lifts the grasped green block off the table surface, moves it a short distance upward and rightward, opens fingers to release the block, letting it fall onto the right area of the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1867, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward toward the green block that fell on the right side of the table, approaching the block with fingers partially open."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the green block on the right table surface, adjusting finger positions and gradually closing fingers around the block to attempt a stable grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach_grasp: Right hand moves toward the small green block on the right table surface, closes fingers to adjust and establish a stable grasp on the block, which stays on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, moving it upward and leftward to position it directly above the target bottle on the wooden block holder."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand slightly adjusts the position of the green block to align its central hole with the purple post on top of the target bottle."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand moves the aligned green block downward along the purple post, until the block rests stably on the top of the target bottle and is supported by the bottle."}], "episode_index": 30}
+{"source_uid": "f3231a7468417b47", "num_frames": 1872, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture at the left side of the table, with no object contacted. | Right hand: other:adjust_hand_posture: Right hand adjusts its finger and wrist posture at the right side of the table, with no object contacted."}, {"label": "goal", "start_step": 0, "end_step": 105, "id": "320a2b48-28b7-44d9-bbfc-c2152484d3cb"}, {"label": "valid", "start_step": 0, "end_step": 1843, "id": "KtWg4NL-5DrkLjQ1j6xyc"}, {"label": "subtasks", "start_step": 22, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves leftward from the right side of the table toward the central wooden pegboard with stacked hollow blocks."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: other:knock_blocks_off_pegs: Right hand moves downward and knocks the hollow blocks off the purple pegs on the central wooden board."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand moves down toward the green hollow block on the table surface and grasps it with finger adjustments for a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 106, "end_step": 220, "id": "f7d130b5-7b9c-41e2-9480-b74320a99f44"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward and rightward above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the green hexagonal block on the purple peg, fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 221, "end_step": 275, "id": "64c44da2-f005-41f3-87be-c09673eedf5a"}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 276, "end_step": 385, "id": "2aec9f57-dba4-4b22-b16e-0501dc97d537"}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block from the grip."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases the block quickly."}, {"label": "goal", "start_step": 386, "end_step": 455, "id": "417d487e-bb6f-4ea2-8fd0-6554ffb9279a"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting for stable grip."}, {"label": "goal", "start_step": 456, "end_step": 565, "id": "7ab64a0d-c1fa-4662-a481-4c7b1e5608fb"}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it toward the wooden peg board."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden board, adjusting position to align and lower the piece onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand finalizes the mating of the white hex block on the upper peg of the pegboard and releases the block."}, {"label": "goal", "start_step": 566, "end_step": 620, "id": "f05ed546-efd2-4291-afb3-153fcc58895f"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the upper peg area toward the white hexagonal block on the table, keeping empty."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "goal", "start_step": 621, "end_step": 805, "id": "4c932bf4-b8f5-4e38-bbec-bb2db1bc54a7"}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the position above the front-right purple peg."}, {"label": "subtasks", "start_step": 660, "end_step": 787, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the front-right purple peg by aligning the block's hole with the peg and lowering it along the peg."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the front-right purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the upper right area near the peg set toward the green hexagonal block on the table."}, {"label": "goal", "start_step": 806, "end_step": 855, "id": "dcbce9b2-79ff-4ab4-b750-65151744697f"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 856, "end_step": 960, "id": "002ce310-bf6d-4c4d-9f36-66de04df9f20"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward to above the purple peg."}, {"label": "subtasks", "start_step": 885, "end_step": 951, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the green hexagonal block on the purple peg and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white cylindrical peg on the wooden peg base, with fingers opening to separate from the peg."}, {"label": "goal", "start_step": 961, "end_step": 1050, "id": "ba5ed755-6f96-4823-a1b4-1d176b6d4968"}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, with no object in hand."}, {"label": "subtasks", "start_step": 998, "end_step": 1071, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1051, "end_step": 1170, "id": "3eb70794-a964-43a1-85ec-1234b6296da6"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1169, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod by aligning the hole and lowering the piece down the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards and rightwards from the right side of the wooden base to approach the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1171, "end_step": 1220, "id": "395a8340-01e6-4fae-8004-a49f0b6ec287"}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table surface, establishing a stable grip."}, {"label": "goal", "start_step": 1221, "end_step": 1445, "id": "fc939d33-6a8a-4d4e-a8c1-0f4a9bf4452e"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and carries it upwards and leftwards towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod, completing the nesting assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod, staying slightly beside the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, without touching the block."}, {"label": "goal", "start_step": 1446, "end_step": 1500, "id": "4335f5cf-3c6f-4300-a0df-e0ec392ef978"}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1501, "end_step": 1610, "id": "b6477a35-575d-498a-be29-e4a1f6a38f9f"}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white post with a purple top onto the wooden base and releases its grip."}, {"label": "goal", "start_step": 1611, "end_step": 1660, "id": "93153571-7c98-4cc0-8c73-1b3a61d6941c"}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches toward the green block on the table surface and grasps it with closing fingers."}, {"label": "goal", "start_step": 1661, "end_step": 1810, "id": "cce139d3-ad52-42a7-aaa5-e62f986999f0"}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the front-right white post on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1814, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block onto the front-right white post by aligning its hole with the post and lowering it down."}, {"label": "home", "start_step": 1844, "end_step": 1871, "id": "QqOYd3rIg0ESRwJiFEkEt"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture at the left side of the table, with no object contacted. | Right hand: other:adjust_hand_posture: Right hand adjusts its finger and wrist posture at the right side of the table, with no object contacted."}, {"label": "subtasks", "start_step": 22, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves leftward from the right side of the table toward the central wooden pegboard with stacked hollow blocks."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: other:knock_blocks_off_pegs: Right hand moves downward and knocks the hollow blocks off the purple pegs on the central wooden board."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand moves down toward the green hollow block on the table surface and grasps it with finger adjustments for a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward and rightward above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the green hexagonal block on the purple peg, fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block from the grip."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases the block quickly."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it toward the wooden peg board."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden board, adjusting position to align and lower the piece onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand finalizes the mating of the white hex block on the upper peg of the pegboard and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the upper peg area toward the white hexagonal block on the table, keeping empty."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the position above the front-right purple peg."}, {"label": "subtasks", "start_step": 660, "end_step": 787, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the front-right purple peg by aligning the block's hole with the peg and lowering it along the peg."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the front-right purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the upper right area near the peg set toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward to above the purple peg."}, {"label": "subtasks", "start_step": 885, "end_step": 951, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the green hexagonal block on the purple peg and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white cylindrical peg on the wooden peg base, with fingers opening to separate from the peg."}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, with no object in hand."}, {"label": "subtasks", "start_step": 998, "end_step": 1071, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1169, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod by aligning the hole and lowering the piece down the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards and rightwards from the right side of the wooden base to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table surface, establishing a stable grip."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and carries it upwards and leftwards towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod, completing the nesting assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod, staying slightly beside the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, without touching the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white post with a purple top onto the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches toward the green block on the table surface and grasps it with closing fingers."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the front-right white post on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1814, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block onto the front-right white post by aligning its hole with the post and lowering it down."}], "episode_index": 31}
+{"source_uid": "2e6e304096b5ca2b", "num_frames": 1979, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: idle: Right robotic hand remains empty at the right side of the table without moving."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "74d751cb-049c-4d35-b866-e66dda94ef21"}, {"label": "valid", "start_step": 0, "end_step": 1950, "id": "5e6Jq8XB-ioZ14jcNgCak"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right robotic hand moves towards the white cylindrical block on the left side of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right robotic hand closes fingers and adjusts to grasp the white cylindrical block on the left side of the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 126, "end_step": 290, "id": "cde3a59f-5894-4d46-88fc-7b63d6d7a98b"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg, pressing it down to fully fit onto the base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the mated green block and reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 291, "end_step": 310, "id": "8ced804f-03bd-49b2-b41b-bb100bb0f461"}, {"label": "goal", "start_step": 311, "end_step": 410, "id": "f524203b-690f-4aab-9a9c-4ff2ee7bcc02"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and moves it above the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 345, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block from its grip on the purple peg of the wooden base."}, {"label": "goal", "start_step": 411, "end_step": 470, "id": "150e155c-e107-4f44-9e8a-49f4058fff9e"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "goal", "start_step": 471, "end_step": 590, "id": "c735c8e6-4119-42c4-831e-c30dd87a7e2a"}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "goal", "start_step": 591, "end_step": 630, "id": "2e4c5de9-7fd0-4990-a7d3-47e8fb64e6c0"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 631, "end_step": 745, "id": "899f31b2-5b1d-4c7d-8ebd-b2cefd413d81"}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward towards the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand slightly adjusts the white hexagonal block on the purple peg to stabilize the grasp."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden base, with fingers gradually opening."}, {"label": "goal", "start_step": 746, "end_step": 815, "id": "1f7f833d-77b6-4355-931a-287cd025cb96"}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00023", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 816, "end_step": 1000, "id": "06362f38-3955-4059-b180-90457a020b22"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and presses it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers, separating from the block."}, {"label": "subtasks", "start_step": 982, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the assembled green block on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the purple cylindrical part into the corresponding hole on the wooden base."}, {"label": "goal", "start_step": 1001, "end_step": 1065, "id": "df212f3f-46e5-4aca-a12c-f37f83b6dcdb"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the lower part of the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00032", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table by closing fingers around it."}, {"label": "goal", "start_step": 1066, "end_step": 1155, "id": "26dbcc42-77b9-46d3-8e93-8fbc3aba0a12"}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00033", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00034", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: place_mate: Right hand places the white hexagonal block onto the purple rod and fits it down along the rod to complete assembly."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00035", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod placed on the wooden base."}, {"label": "goal", "start_step": 1156, "end_step": 1495, "id": "c084ebd8-2259-4704-883b-2c9c40e0bdd2"}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00037", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the white hexagonal block on the table to move it slightly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves backward slightly away from the white hexagonal block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward toward the white hexagonal block again."}, {"label": "subtasks", "start_step": 1440, "end_step": 1507, "id": "reasoning-language-00040", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to establish a grasp."}, {"label": "goal", "start_step": 1496, "end_step": 1590, "id": "bd59bb49-dd8c-49f6-b07e-e430602e8f3a"}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00042", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1591, "end_step": 1640, "id": "38b5c38d-447f-4d19-8812-23354ec4eaa2"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing."}, {"label": "goal", "start_step": 1641, "end_step": 1755, "id": "7197aabd-d52f-4151-b4af-b997acd52cb6"}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats away from the wooden tray."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block placed on the black table surface."}, {"label": "goal", "start_step": 1756, "end_step": 1805, "id": "5fce9a20-6004-41d1-b372-9e56436fee92"}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 1806, "end_step": 1915, "id": "26adf3ee-12ce-4a81-96d4-7bce73087347"}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the rightmost white pillar on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white pillar and inserts it onto the pillar to complete assembly."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block which is already fitted on the white pillar."}, {"label": "home", "start_step": 1951, "end_step": 1978, "id": "WxXR0JWj2n30iYYwVpZiZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: idle: Right robotic hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right robotic hand moves towards the white cylindrical block on the left side of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right robotic hand closes fingers and adjusts to grasp the white cylindrical block on the left side of the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg, pressing it down to fully fit onto the base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the mated green block and reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and moves it above the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 345, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block from its grip on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward towards the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand slightly adjusts the white hexagonal block on the purple peg to stabilize the grasp."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden base, with fingers gradually opening."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00023", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and presses it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers, separating from the block."}, {"label": "subtasks", "start_step": 982, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the assembled green block on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the purple cylindrical part into the corresponding hole on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the lower part of the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00032", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table by closing fingers around it."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00033", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00034", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: place_mate: Right hand places the white hexagonal block onto the purple rod and fits it down along the rod to complete assembly."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00035", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod placed on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00037", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the white hexagonal block on the table to move it slightly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves backward slightly away from the white hexagonal block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward toward the white hexagonal block again."}, {"label": "subtasks", "start_step": 1440, "end_step": 1507, "id": "reasoning-language-00040", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to establish a grasp."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00042", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats away from the wooden tray."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block placed on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the rightmost white pillar on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white pillar and inserts it onto the pillar to complete assembly."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block which is already fitted on the white pillar."}], "episode_index": 32}
+{"source_uid": "1c3634327d69769e", "num_frames": 1686, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut on the table in front of the wooden rack, extending fingers to approach the target."}, {"label": "goal", "start_step": 0, "end_step": 100, "id": "6e112c67-692a-4355-9f85-2c1f0889a853"}, {"label": "valid", "start_step": 0, "end_step": 1654, "id": "18Cqgam3c2IKpXVvO2dBi"}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table, making small wrist and finger adjustments to form a grip on the nut."}, {"label": "goal", "start_step": 101, "end_step": 210, "id": "cfd39ada-1dcf-460d-b23a-570f34cfd4d5"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward toward the purple vertical posts on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the target purple post and slides the block down the post to achieve a fitted assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the block rack toward the white hexagonal block placed on the table in front of the block base, with fingers held slightly open."}, {"label": "goal", "start_step": 211, "end_step": 270, "id": "0d7366a2-68ed-447f-82aa-879936a667f9"}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block stays on the table surface."}, {"label": "goal", "start_step": 271, "end_step": 375, "id": "b810b2eb-f208-437b-92eb-1775b6b3fcbf"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it above the purple peg on the block rack."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the grasped white hexagonal block with the purple peg on the rack, lowers the block to nest it onto the peg, making small positional adjustments to maintain alignment during the process."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the area near the assembly board toward the white hexagonal nut on the table, approaching the target without making contact."}, {"label": "goal", "start_step": 376, "end_step": 440, "id": "88061583-2d16-45ed-b340-6c5e5575d705"}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp."}, {"label": "goal", "start_step": 441, "end_step": 575, "id": "3503bb33-4a9a-4df9-90b5-8f409007b2a2"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple peg on the assembly board."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the assembly board and moves it downward to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg of the assembly board without any observable movement."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the black table surface adjacent to the wooden assembly base."}, {"label": "goal", "start_step": 576, "end_step": 630, "id": "066c3995-378d-4cf8-8aa7-3cfd3ce016fb"}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip on the object."}, {"label": "goal", "start_step": 631, "end_step": 740, "id": "fb5bd691-7f00-4655-9951-44e346e4e1ca"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward toward the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 668, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple peg, then lowers the nut to seat it onto the peg."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal nut now seated on the purple peg, with fingers beginning to separate from the nut."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand holds the white cylindrical block, moves downward to position the block on the wooden base, opens fingers to let go of the block."}, {"label": "goal", "start_step": 741, "end_step": 805, "id": "1bde8b95-1e44-4fce-836b-f8f5f3500026"}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach_grasp: Right hand moves from the wooden base toward the green hexagonal block on the table, closes fingers and adjusts grip to securely grasp the green block."}, {"label": "goal", "start_step": 806, "end_step": 890, "id": "3179dd2a-4b73-49b5-8cf2-4dfcd23913d9"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand holds the grasped green hexagonal block, lifts it off the table surface, moves it upward and toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand holds the green hexagonal block, aligns it with the purple rod, slides the block down the rod to fit it onto the rod in assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the fitted green hexagonal block on the purple rod."}, {"label": "goal", "start_step": 891, "end_step": 945, "id": "a0e1712d-7073-4439-a645-c19ea7147134"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut on the black table surface near the green block."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, making small finger adjustments to secure the grip."}, {"label": "goal", "start_step": 946, "end_step": 1050, "id": "17d54dd8-cdc8-4d54-b340-ec85a6636dbd"}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward toward the wooden assembly base."}, {"label": "subtasks", "start_step": 975, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod on the wooden assembly base, adjusting position to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut onto the purple rod of the assembly base."}, {"label": "goal", "start_step": 1051, "end_step": 1220, "id": "7d7d3c24-78d4-4094-ab48-6691630c2945"}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from above the wooden block set toward the nearby white hexagonal nut on the table, with fingers open, approaching the nut without contact."}, {"label": "subtasks", "start_step": 1095, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the white hexagonal nut near the wooden block, adjusts finger positions to attempt grasping, and the nut slides left away from the hand without forming a stable grasp."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: idle: Right hand remains empty above the table near the original nut position with no observable movement."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves left toward the slid white hexagonal nut with fingers held open."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the slid white hexagonal nut, fingers close gradually to establish a grasp on the nut."}, {"label": "goal", "start_step": 1221, "end_step": 1305, "id": "e9818ac5-abdb-4849-9da2-613923c8a7af"}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it toward the empty slot on the wooden block assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the empty slot on the wooden block assembly and inserts the nut into the slot."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the inserted white hexagonal nut in the wooden block slot without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut in the wooden block slot, separating from the nut."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface, keeping fingers open before contact."}, {"label": "goal", "start_step": 1306, "end_step": 1350, "id": "d50dbeb2-5af5-421e-ba06-da500400325f"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 1351, "end_step": 1450, "id": "d4f19843-b458-418a-994e-2bd4d7505d97"}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward and toward the purple rod mounted on the wooden block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod, lowering the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, separating from the nut that remains fitted on the purple rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the area adjacent to the white cylindrical block set toward the green cubic block on the dark table surface, with fingers open as it approaches the target."}, {"label": "goal", "start_step": 1451, "end_step": 1490, "id": "b3f28f82-d7bc-4213-9c9e-77ce71a91609"}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green cubic block to establish a stable grasp, while the block remains resting on the table surface."}, {"label": "goal", "start_step": 1491, "end_step": 1625, "id": "28b56d8f-e859-473e-82d9-c570c75a6b28"}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green cubic block completely off the dark table surface, then moves it upward and toward the wooden base to position it directly above the purple-topped white cylindrical block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the top of the purple-topped white cylindrical block, then lowers the block to fit securely onto the cylinder, establishing an assembled connection."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens its fingers to release the green cubic block, which remains fitted onto the purple-topped white cylindrical block."}, {"label": "home", "start_step": 1655, "end_step": 1685, "id": "RMZOhs8j4qOhralMftKbn"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut on the table in front of the wooden rack, extending fingers to approach the target."}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table, making small wrist and finger adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward toward the purple vertical posts on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the target purple post and slides the block down the post to achieve a fitted assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the block rack toward the white hexagonal block placed on the table in front of the block base, with fingers held slightly open."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block stays on the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it above the purple peg on the block rack."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the grasped white hexagonal block with the purple peg on the rack, lowers the block to nest it onto the peg, making small positional adjustments to maintain alignment during the process."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the area near the assembly board toward the white hexagonal nut on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple peg on the assembly board."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the assembly board and moves it downward to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg of the assembly board without any observable movement."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the black table surface adjacent to the wooden assembly base."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip on the object."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward toward the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 668, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple peg, then lowers the nut to seat it onto the peg."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal nut now seated on the purple peg, with fingers beginning to separate from the nut."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand holds the white cylindrical block, moves downward to position the block on the wooden base, opens fingers to let go of the block."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach_grasp: Right hand moves from the wooden base toward the green hexagonal block on the table, closes fingers and adjusts grip to securely grasp the green block."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand holds the grasped green hexagonal block, lifts it off the table surface, moves it upward and toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand holds the green hexagonal block, aligns it with the purple rod, slides the block down the rod to fit it onto the rod in assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the fitted green hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut on the black table surface near the green block."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, making small finger adjustments to secure the grip."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward toward the wooden assembly base."}, {"label": "subtasks", "start_step": 975, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod on the wooden assembly base, adjusting position to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut onto the purple rod of the assembly base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from above the wooden block set toward the nearby white hexagonal nut on the table, with fingers open, approaching the nut without contact."}, {"label": "subtasks", "start_step": 1095, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the white hexagonal nut near the wooden block, adjusts finger positions to attempt grasping, and the nut slides left away from the hand without forming a stable grasp."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: idle: Right hand remains empty above the table near the original nut position with no observable movement."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves left toward the slid white hexagonal nut with fingers held open."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the slid white hexagonal nut, fingers close gradually to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it toward the empty slot on the wooden block assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the empty slot on the wooden block assembly and inserts the nut into the slot."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the inserted white hexagonal nut in the wooden block slot without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut in the wooden block slot, separating from the nut."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface, keeping fingers open before contact."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward and toward the purple rod mounted on the wooden block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod, lowering the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, separating from the nut that remains fitted on the purple rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the area adjacent to the white cylindrical block set toward the green cubic block on the dark table surface, with fingers open as it approaches the target."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green cubic block to establish a stable grasp, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green cubic block completely off the dark table surface, then moves it upward and toward the wooden base to position it directly above the purple-topped white cylindrical block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the top of the purple-topped white cylindrical block, then lowers the block to fit securely onto the cylinder, establishing an assembled connection."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens its fingers to release the green cubic block, which remains fitted onto the purple-topped white cylindrical block."}], "episode_index": 33}
+{"source_uid": "44c9d97071746194", "num_frames": 1590, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_pose: Left hand rotates its wrist slightly and opens its fingers at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "c3a12399-ecfd-403e-9d12-fdd1fefb0855"}, {"label": "valid", "start_step": 0, "end_step": 1555, "id": "xWYmM5bASGmwtYLh7BCC_"}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 116, "end_step": 250, "id": "8775a7de-b372-4691-8a3c-bad63ed3215d"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the left purple peg and inserts it onto the peg to establish initial assembly."}, {"label": "subtasks", "start_step": 172, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the left purple peg to push it further down the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 251, "end_step": 295, "id": "a94734bd-d934-463e-a2f5-f7826cf0d3ca"}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table above the left green block."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 296, "end_step": 440, "id": "8c3e789e-b14d-4525-8992-e4df2b23e904"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical part on the upper wooden base, then moves downward to approach the white hexagonal part on the table surface."}, {"label": "goal", "start_step": 441, "end_step": 515, "id": "2b88a539-3a5e-4bf8-9771-397858f96897"}, {"label": "subtasks", "start_step": 465, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 516, "end_step": 590, "id": "cc896e5d-ed8c-44a7-9d2d-1e0ca251ee73"}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block with fingers opening and moves slightly upward away from the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg, fingers open to separate from the block."}, {"label": "goal", "start_step": 591, "end_step": 685, "id": "cfa73780-40d1-41f8-b0a1-4c2e5fab64e6"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the peg board."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers adjusting to stabilize the grip while the ring stays on the table surface."}, {"label": "goal", "start_step": 686, "end_step": 790, "id": "ebb6903d-5cc4-442c-8baa-80d630a34bc7"}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it upward and rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and lowers it to fit the ring onto the peg, completing the nesting assembly."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring fitted on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 772, "end_step": 779, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly downward away from the white hexagonal ring on the purple peg."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the white block on the middle purple peg and releases its grip."}, {"label": "goal", "start_step": 791, "end_step": 850, "id": "ca40559b-2200-497b-9eca-96deeab3d897"}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 851, "end_step": 970, "id": "ee8aea48-82ca-4fe8-ba67-44f20bfcd2e1"}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it above the rightmost purple peg."}, {"label": "subtasks", "start_step": 878, "end_step": 944, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the rightmost purple peg and releases the block."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower part of the table."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal nut on the black table and grasps it by closing its fingers around the object."}, {"label": "goal", "start_step": 971, "end_step": 990, "id": "49e8da91-70a8-4142-a975-af002574bb32"}, {"label": "goal", "start_step": 991, "end_step": 1085, "id": "8b4ea2ae-7ec8-44da-ba25-36bcf97e924f"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple peg by opening its fingers and moving slightly upward."}, {"label": "goal", "start_step": 1086, "end_step": 1135, "id": "cbda2e8d-8cda-4bfe-a04b-d96f7c1dfa4b"}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the upper white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the table with fingers closing."}, {"label": "goal", "start_step": 1136, "end_step": 1285, "id": "dcd621fb-15e3-45c8-ae2f-57e6abe020b7"}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the upper white hexagonal ring from the table to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal ring with the purple rod and releases the ring."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the lower white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1274, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lower white hexagonal ring on the table with fingers closing."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the right table surface without moving."}, {"label": "goal", "start_step": 1286, "end_step": 1290, "id": "4e09e3e6-ab32-409d-bc75-72b113d47b67"}, {"label": "goal", "start_step": 1291, "end_step": 1360, "id": "4e0c4909-7e4c-435a-a0c6-94f22225f9b5"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and moves it leftward to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white ring onto the purple rod by moving downward to complete the assembly."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the small purple component onto the top of the front-right white bottle on the wooden tray and releases the component."}, {"label": "goal", "start_step": 1361, "end_step": 1420, "id": "508715de-25a5-4e99-a982-a354fcc86d27"}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface with fingers closing around it."}, {"label": "goal", "start_step": 1421, "end_step": 1530, "id": "33920dce-c9e8-4f07-a944-cef46323fd3d"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the table surface and transports it toward the front-right white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green square block onto the top of the front-right white bottle on the wooden tray by aligning its hole with the bottle's top protrusion and pressing down."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block on the top of the front-right white bottle."}, {"label": "home", "start_step": 1556, "end_step": 1589, "id": "CwJFRftbAMEFwanAoZYvS"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_pose: Left hand rotates its wrist slightly and opens its fingers at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the left purple peg and inserts it onto the peg to establish initial assembly."}, {"label": "subtasks", "start_step": 172, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the left purple peg to push it further down the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table above the left green block."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical part on the upper wooden base, then moves downward to approach the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block with fingers opening and moves slightly upward away from the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the peg board."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers adjusting to stabilize the grip while the ring stays on the table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it upward and rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and lowers it to fit the ring onto the peg, completing the nesting assembly."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring fitted on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 772, "end_step": 779, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly downward away from the white hexagonal ring on the purple peg."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the white block on the middle purple peg and releases its grip."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it above the rightmost purple peg."}, {"label": "subtasks", "start_step": 878, "end_step": 944, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the rightmost purple peg and releases the block."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower part of the table."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal nut on the black table and grasps it by closing its fingers around the object."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple peg by opening its fingers and moving slightly upward."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the upper white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the table with fingers closing."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the upper white hexagonal ring from the table to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal ring with the purple rod and releases the ring."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the lower white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1274, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lower white hexagonal ring on the table with fingers closing."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the right table surface without moving."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and moves it leftward to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white ring onto the purple rod by moving downward to complete the assembly."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the small purple component onto the top of the front-right white bottle on the wooden tray and releases the component."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the table surface and transports it toward the front-right white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green square block onto the top of the front-right white bottle on the wooden tray by aligning its hole with the bottle's top protrusion and pressing down."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block on the top of the front-right white bottle."}], "episode_index": 34}
+{"source_uid": "0f9087ca991dda4e", "num_frames": 1801, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves leftward from the initial position towards the green hexagonal block in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "3c4e9bfc-86b4-4b55-8016-99feed68a83e"}, {"label": "valid", "start_step": 0, "end_step": 1768, "id": "YDDrhswJSG4KL0lNaRVTc"}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close and adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 121, "end_step": 220, "id": "5677ebc3-c680-449a-af6b-835f4179d423"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the green block above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the green block with the purple peg by aligning and inserting."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: press: Right hand presses the green block down firmly onto the purple peg."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 221, "end_step": 285, "id": "6c64c4b5-d533-4466-b91f-0df4fef9eb7c"}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}, {"label": "goal", "start_step": 286, "end_step": 415, "id": "23236d80-7e65-4a6f-8a09-5802151af52b"}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the front left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block with the front left purple rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the front left purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 416, "end_step": 485, "id": "4676546b-1e65-42c4-b9ea-b5a3e135eb72"}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black tabletop to establish grasp."}, {"label": "goal", "start_step": 486, "end_step": 580, "id": "5753b736-1ec0-487c-ad79-f1e63e59b3a0"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden test tube rack."}, {"label": "subtasks", "start_step": 518, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden test tube rack."}, {"label": "goal", "start_step": 581, "end_step": 645, "id": "eb3666f8-83c2-4877-b1c4-16908cc0f092"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 646, "end_step": 775, "id": "562576ac-4db6-4c5b-8978-903397dfbdf7"}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 776, "end_step": 825, "id": "c0602f4e-93b2-411b-ae70-ba796d30ae2d"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 826, "end_step": 935, "id": "56341c26-93e7-432c-add5-d15827a13ff6"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the purple peg on the wooden tray."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 936, "end_step": 985, "id": "3df37f92-471b-4169-9d79-789cde1cb64a"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 986, "end_step": 1075, "id": "67a3a973-1f00-4aa8-bacd-acdd8d0acb9e"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white ring placed on the wooden base."}, {"label": "goal", "start_step": 1076, "end_step": 1130, "id": "91f1f134-3f3a-4e36-b412-da6f199b9735"}, {"label": "subtasks", "start_step": 1088, "end_step": 1131, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward towards the white ring on the black tabletop."}, {"label": "goal", "start_step": 1131, "end_step": 1205, "id": "4b825316-af5a-4446-a27c-1ff57805e3b8"}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white ring on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white ring and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white cap held on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1206, "end_step": 1270, "id": "0539b579-f5e1-4b27-a0a5-02a96d534889"}, {"label": "subtasks", "start_step": 1222, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal cap placed on the black table surface."}, {"label": "goal", "start_step": 1271, "end_step": 1470, "id": "dbb854ff-d050-40cd-9f46-31d8f2c519d2"}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal cap on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cap from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal cap onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white hexagonal cap fitted on the purple rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: retreat: Right hand moves upward away from the purple rod after releasing the cap."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white cylinder on the wooden base and lifts its top part slightly upward."}, {"label": "goal", "start_step": 1471, "end_step": 1635, "id": "20b1652b-9191-4fef-9179-ee58ab807147"}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves empty toward the green cube placed on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand contacts the green cube, adjusts fingers to form a stable grip on the cube."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: push: Right hand pushes the green cube on the table slightly toward the left direction."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the green cubic block off the black table surface."}, {"label": "goal", "start_step": 1636, "end_step": 1735, "id": "d5094601-2fd8-4182-8cb7-3f89c9c8bd17"}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand moves the green cubic block towards the wooden base with white cylindrical pillars."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white pillar on the wooden base to fit it onto the pillar."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand lowers the green cubic block onto the rightmost white pillar until the block is stably supported by the pillar."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand opens its fingers to release the green cubic block, separating from the block completely."}, {"label": "home", "start_step": 1769, "end_step": 1800, "id": "p7yBfyDj0T2sPMLmGygs2"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves leftward from the initial position towards the green hexagonal block in front of the wooden rack."}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close and adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the green block above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the green block with the purple peg by aligning and inserting."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: press: Right hand presses the green block down firmly onto the purple peg."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the front left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block with the front left purple rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the front left purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black tabletop to establish grasp."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden test tube rack."}, {"label": "subtasks", "start_step": 518, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden test tube rack."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the purple peg on the wooden tray."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white ring placed on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1131, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white ring on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white ring and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white cap held on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal cap placed on the black table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal cap on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cap from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal cap onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white hexagonal cap fitted on the purple rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: retreat: Right hand moves upward away from the purple rod after releasing the cap."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white cylinder on the wooden base and lifts its top part slightly upward."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves empty toward the green cube placed on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand contacts the green cube, adjusts fingers to form a stable grip on the cube."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: push: Right hand pushes the green cube on the table slightly toward the left direction."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the green cubic block off the black table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand moves the green cubic block towards the wooden base with white cylindrical pillars."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white pillar on the wooden base to fit it onto the pillar."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand lowers the green cubic block onto the rightmost white pillar until the block is stably supported by the pillar."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand opens its fingers to release the green cubic block, separating from the block completely."}], "episode_index": 35}
+{"source_uid": "206554c44fceaa5f", "num_frames": 1826, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace with no contact to operational objects, staying stationary."}, {"label": "goal", "start_step": 0, "end_step": 105, "id": "6cd483c5-9a7b-4988-aec5-89221457c58c"}, {"label": "valid", "start_step": 0, "end_step": 1797, "id": "CuthHuNDNXI_EwYIgljKr"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut on the table surface to the left of the wooden assembly holder, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table, making small adjustments to finger positions and wrist angle to establish grip on the nut, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand holds the green hexagonal block resting on the black table surface, lifts it upward completely off the table, and moves it to the position directly above the purple peg on the wooden assembly base."}, {"label": "goal", "start_step": 106, "end_step": 210, "id": "79121752-5fef-49e0-bdad-a8d6db3661eb"}, {"label": "subtasks", "start_step": 135, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to nest it onto the peg until the block is securely fitted on the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward and forward from the wooden base area toward the white hexagonal block resting on the table, holds fingers open as it approaches the target block."}, {"label": "goal", "start_step": 211, "end_step": 260, "id": "ae98e22a-7b4d-41bf-aa25-4584e8a63949"}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, makes small adjustments to finger positions to form a stable grip on the block, which remains supported by the table surface."}, {"label": "goal", "start_step": 261, "end_step": 355, "id": "3f66831d-2e3b-4179-9bb8-ae0545e524ee"}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves upward and back toward the wooden base, carries the block through the air to position it above the target purple post."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the target purple post, lowers the block to fit it securely onto the post, opens fingers to release the assembled block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand holds the white cylindrical piece, aligns it with the purple post on the wooden base and fits the piece onto the post."}, {"label": "goal", "start_step": 356, "end_step": 425, "id": "ab74a0a1-9896-4e27-b84a-879b8e99ef34"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish a stable grip on the nut."}, {"label": "goal", "start_step": 426, "end_step": 645, "id": "fc1991b0-3d48-4cb5-aee7-280822b69a9f"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, pulling slightly away from the nut surface."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: press: Right hand grips the white hexagonal nut on the purple rod and presses it downward along the rod to seat it firmly in place."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block held on the upper purple peg, allowing the block to fall onto the table surface near the wooden base."}, {"label": "goal", "start_step": 646, "end_step": 710, "id": "c90aebf9-fbb3-403a-a3d7-389e3d247919"}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward from the upper peg area toward the fallen white hexagonal block on the table near the wooden base, with fingers held open as it approaches the block."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block resting on the table to establish a stable grasp on the block."}, {"label": "goal", "start_step": 711, "end_step": 840, "id": "d8417a29-2cd0-4683-a17d-dd635cee8f92"}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position the block directly above the right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the right purple peg, then lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple peg, fully separating the hand from the secured block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward with a partially open posture, traveling from the area above the wooden assembly base toward the green hexagonal block resting on the black table surface, without yet contacting the block."}, {"label": "goal", "start_step": 841, "end_step": 890, "id": "62cdcba7-faf9-40be-9dc5-4b7924eb64d9"}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers close around the sides of the block to form a stable grasp, while the block remains supported by the table surface."}, {"label": "goal", "start_step": 891, "end_step": 1055, "id": "39d9db78-a0ee-48c4-8c5f-894aaaa3cc98"}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface, moves upward and toward the purple vertical peg on the wooden assembly base, positioning the block's central hole directly over the peg."}, {"label": "subtasks", "start_step": 938, "end_step": 1027, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden base, lowers the block onto the peg while making small positional adjustments to properly seat the block on the assembly."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the seated green hexagonal block, then retracts the fingers slightly away from the assembled block."}, {"label": "goal", "start_step": 1056, "end_step": 1120, "id": "f09e34fc-cbfc-4169-bf55-fd477acc5469"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal nut positioned in front of the green block on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger position to form a stable grip on the nut, which remains on the table surface."}, {"label": "goal", "start_step": 1121, "end_step": 1245, "id": "3c83c07c-d7fe-4c7a-8dd5-269faeafde7c"}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then transports it upward and toward the wooden stand to position it directly above the purple rod."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the top end of the purple rod, lowering the nut until it makes contact with the rod tip."}, {"label": "subtasks", "start_step": 1178, "end_step": 1221, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut placed on the purple rod without moving, keeping the nut stationary in its position on the rod."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal nut on the purple rod, moving the nut slightly downward to continue fitting it onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves from the area above the block set downward toward the white hexagonal nut on the table to the right of the wooden base, with fingers open."}, {"label": "goal", "start_step": 1246, "end_step": 1295, "id": "1d7652b5-4f76-4ae8-8334-fab08b16632c"}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger position to form a stable grip on the nut."}, {"label": "goal", "start_step": 1296, "end_step": 1390, "id": "cf48921e-806b-4bc3-9464-f2a65255162c"}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and leftward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the top of the purple vertical rod, adjusting position to prepare for fitting the nut onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white block placed on the wooden tray, losing contact with the block."}, {"label": "goal", "start_step": 1391, "end_step": 1490, "id": "9c491a03-51ba-46b2-b433-4f9249b8da57"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes around the white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}, {"label": "goal", "start_step": 1491, "end_step": 1605, "id": "c70b2b59-e04a-41dd-a08a-ef8093f0f317"}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand grips the white hexagonal block, lifts it off the table surface, and moves it upward toward the purple vertical rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod on the wooden rack and fits it downward onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: retreat: Right hand moves empty away from the wooden rack and the assembled block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward toward the green square block on the dark table surface, without contacting the block."}, {"label": "goal", "start_step": 1606, "end_step": 1675, "id": "580099dc-1f87-4819-ac13-deb739b8362c"}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the green square block on the table, making minor adjustments to establish a stable grip on the block."}, {"label": "goal", "start_step": 1676, "end_step": 1765, "id": "2f626e6d-434a-4f00-9b93-07bc51e55404"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the green block off the table surface and carries it upward and leftward toward the target white cylindrical post on the wooden block base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green square block with the top of the target white post, fitting the block onto the post to form an assembly."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: place: Right hand lowers the green square block down the post until it rests steadily on the top surface of the lower white cylinder, supported by the cylinder."}, {"label": "home", "start_step": 1798, "end_step": 1825, "id": "hWf78bPS2tlaCakLPDiV1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace with no contact to operational objects, staying stationary."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut on the table surface to the left of the wooden assembly holder, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table, making small adjustments to finger positions and wrist angle to establish grip on the nut, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand holds the green hexagonal block resting on the black table surface, lifts it upward completely off the table, and moves it to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 135, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to nest it onto the peg until the block is securely fitted on the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward and forward from the wooden base area toward the white hexagonal block resting on the table, holds fingers open as it approaches the target block."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, makes small adjustments to finger positions to form a stable grip on the block, which remains supported by the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves upward and back toward the wooden base, carries the block through the air to position it above the target purple post."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the target purple post, lowers the block to fit it securely onto the post, opens fingers to release the assembled block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand holds the white cylindrical piece, aligns it with the purple post on the wooden base and fits the piece onto the post."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, pulling slightly away from the nut surface."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: press: Right hand grips the white hexagonal nut on the purple rod and presses it downward along the rod to seat it firmly in place."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block held on the upper purple peg, allowing the block to fall onto the table surface near the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward from the upper peg area toward the fallen white hexagonal block on the table near the wooden base, with fingers held open as it approaches the block."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block resting on the table to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position the block directly above the right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the right purple peg, then lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple peg, fully separating the hand from the secured block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward with a partially open posture, traveling from the area above the wooden assembly base toward the green hexagonal block resting on the black table surface, without yet contacting the block."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers close around the sides of the block to form a stable grasp, while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface, moves upward and toward the purple vertical peg on the wooden assembly base, positioning the block's central hole directly over the peg."}, {"label": "subtasks", "start_step": 938, "end_step": 1027, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden base, lowers the block onto the peg while making small positional adjustments to properly seat the block on the assembly."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the seated green hexagonal block, then retracts the fingers slightly away from the assembled block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal nut positioned in front of the green block on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger position to form a stable grip on the nut, which remains on the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then transports it upward and toward the wooden stand to position it directly above the purple rod."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the top end of the purple rod, lowering the nut until it makes contact with the rod tip."}, {"label": "subtasks", "start_step": 1178, "end_step": 1221, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut placed on the purple rod without moving, keeping the nut stationary in its position on the rod."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal nut on the purple rod, moving the nut slightly downward to continue fitting it onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves from the area above the block set downward toward the white hexagonal nut on the table to the right of the wooden base, with fingers open."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger position to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and leftward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the top of the purple vertical rod, adjusting position to prepare for fitting the nut onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white block placed on the wooden tray, losing contact with the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes around the white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand grips the white hexagonal block, lifts it off the table surface, and moves it upward toward the purple vertical rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod on the wooden rack and fits it downward onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: retreat: Right hand moves empty away from the wooden rack and the assembled block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward toward the green square block on the dark table surface, without contacting the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the green square block on the table, making minor adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the green block off the table surface and carries it upward and leftward toward the target white cylindrical post on the wooden block base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green square block with the top of the target white post, fitting the block onto the post to form an assembly."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: place: Right hand lowers the green square block down the post until it rests steadily on the top surface of the lower white cylinder, supported by the cylinder."}], "episode_index": 36}
+{"source_uid": "5de1a0fe2dbedfae", "num_frames": 1630, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand rotates slightly inward and closes its fingers gently at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table surface."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "58129167-49e0-4ceb-82c9-c31c905cd743"}, {"label": "valid", "start_step": 0, "end_step": 1599, "id": "dXRFSUtcVNS8auYiXWRuQ"}, {"label": "subtasks", "start_step": 22, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal block on the table with fingers closing around the block."}, {"label": "goal", "start_step": 111, "end_step": 225, "id": "87875488-eca8-464f-9b76-1d6a494ecc8f"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward and rightward to the position above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 142, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the wooden rack and fits it down onto the peg until the block reaches the lower position of the peg."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the left white hexagonal nut on the table, with no contact to the nut yet."}, {"label": "goal", "start_step": 226, "end_step": 275, "id": "bfdf25cb-b181-4db1-a3b5-1a9af523a0f0"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal nut on the table, with fingers closing to form a stable grip around the nut."}, {"label": "goal", "start_step": 276, "end_step": 410, "id": "d7960a1c-7c0e-4fc6-9ccb-80b0ba3a6c04"}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward toward the front-left peg of the pegboard."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left peg of the pegboard by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the peg, with fingers opening to separate from the nut."}, {"label": "subtasks", "start_step": 398, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward away from the pegboard area, remaining empty."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg rack area to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 411, "end_step": 455, "id": "838da952-db7d-47df-ae34-b655a91c5d42"}, {"label": "subtasks", "start_step": 428, "end_step": 471, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts to form a stable grip."}, {"label": "goal", "start_step": 456, "end_step": 630, "id": "4e084454-0c3b-4545-a011-67783d61fed7"}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the peg rack."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the peg on the rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block along the peg until it is supported by the green block below."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the peg rack."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the black table surface."}, {"label": "goal", "start_step": 631, "end_step": 670, "id": "3196e7b9-b097-43e2-9d6d-b9f6e8444625"}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black table surface."}, {"label": "goal", "start_step": 671, "end_step": 775, "id": "b77e7b96-ef0a-4f77-920e-3854c033095c"}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal ring upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal ring upward to the position above the right purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the right purple rod and lowers it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the right purple rod without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal ring onto the front-left purple peg of the wooden base and lets go of the ring."}, {"label": "goal", "start_step": 776, "end_step": 835, "id": "427c6595-be2e-4113-8748-19485247302a"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the left green hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left green hexagonal ring on the table with fingers closing around it."}, {"label": "goal", "start_step": 836, "end_step": 935, "id": "14456f5c-5604-42a6-b426-739c991f22ff"}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and moves it toward the front-right purple peg of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring with the front-right purple peg by lowering it down the peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the green hexagonal ring on the front-right purple peg."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the dark table surface below the wooden base."}, {"label": "goal", "start_step": 936, "end_step": 985, "id": "b58b027b-96f9-453e-b13e-7a94ac6647a4"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 986, "end_step": 1085, "id": "5677cbd3-9b01-45dc-99f5-a03c13d6cc87"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base, aligning the ring's hole with the rod and lowering the ring onto it."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring that is fitted on the purple rod."}, {"label": "goal", "start_step": 1086, "end_step": 1130, "id": "7d861cbd-6460-4a2f-8970-be0dea3295e5"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1131, "end_step": 1255, "id": "724a5518-c284-4b69-801b-267fb1e08c0f"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to above the rightmost purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and lowers it onto the rod to complete mating."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple rod without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers."}, {"label": "goal", "start_step": 1256, "end_step": 1305, "id": "f84903a7-d6bd-4ebe-a977-b17f6cb31f4f"}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object with a hole on the black table."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the black table."}, {"label": "goal", "start_step": 1306, "end_step": 1385, "id": "48f7ff3a-df93-4181-b610-34092b920cb3"}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it upward to the top of the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and slides it down onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal object fitted on the purple rod."}, {"label": "goal", "start_step": 1386, "end_step": 1470, "id": "bf345e65-9f33-45ef-9b4d-442a97e3d2e7"}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward from the black table surface until the block leaves the support surface."}, {"label": "goal", "start_step": 1471, "end_step": 1560, "id": "4a85a64d-d8ec-4e65-8e2a-f27f0aeb352d"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block in the air leftward to above the front-right bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1508, "end_step": 1574, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the front-right bottle by aligning the hole and inserting it downward."}, {"label": "home", "start_step": 1600, "end_step": 1629, "id": "TOwwMoGagtO6yilGjusIb"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand rotates slightly inward and closes its fingers gently at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 22, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward and rightward to the position above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 142, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the wooden rack and fits it down onto the peg until the block reaches the lower position of the peg."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the left white hexagonal nut on the table, with no contact to the nut yet."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal nut on the table, with fingers closing to form a stable grip around the nut."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward toward the front-left peg of the pegboard."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left peg of the pegboard by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 338, "end_step": 381, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the peg, with fingers opening to separate from the nut."}, {"label": "subtasks", "start_step": 398, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward away from the pegboard area, remaining empty."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg rack area to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 471, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts to form a stable grip."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the peg rack."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the peg on the rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block along the peg until it is supported by the green block below."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the peg rack."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal ring upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal ring upward to the position above the right purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the right purple rod and lowers it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the right purple rod without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal ring onto the front-left purple peg of the wooden base and lets go of the ring."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the left green hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left green hexagonal ring on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and moves it toward the front-right purple peg of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring with the front-right purple peg by lowering it down the peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the green hexagonal ring on the front-right purple peg."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the dark table surface below the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base, aligning the ring's hole with the rod and lowering the ring onto it."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to above the rightmost purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and lowers it onto the rod to complete mating."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple rod without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object with a hole on the black table."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the black table."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it upward to the top of the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and slides it down onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal object fitted on the purple rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward from the black table surface until the block leaves the support surface."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block in the air leftward to above the front-right bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1508, "end_step": 1574, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the front-right bottle by aligning the hole and inserting it downward."}], "episode_index": 37}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/episodes.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cb8c473ab3fb1a686436ea004f1237bba012df16
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,38 @@
+{"episode_index": 0, "tasks": ["Task: TicTacToe"], "length": 2571}
+{"episode_index": 1, "tasks": ["Task: TicTacToe"], "length": 1981}
+{"episode_index": 2, "tasks": ["Task: TicTacToe"], "length": 2150}
+{"episode_index": 3, "tasks": ["Task: TicTacToe"], "length": 2225}
+{"episode_index": 4, "tasks": ["Task: TicTacToe"], "length": 2594}
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+{"episode_index": 6, "tasks": ["Task: TicTacToe"], "length": 2657}
+{"episode_index": 7, "tasks": ["Task: TicTacToe"], "length": 2354}
+{"episode_index": 8, "tasks": ["Task: TicTacToe"], "length": 2264}
+{"episode_index": 9, "tasks": ["Task: TicTacToe"], "length": 1943}
+{"episode_index": 10, "tasks": ["Task: TicTacToe"], "length": 2466}
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+{"episode_index": 28, "tasks": ["Task: TicTacToe"], "length": 1954}
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+{"episode_index": 30, "tasks": ["Task: TicTacToe"], "length": 2081}
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+{"episode_index": 32, "tasks": ["Task: TicTacToe"], "length": 1979}
+{"episode_index": 33, "tasks": ["Task: TicTacToe"], "length": 1686}
+{"episode_index": 34, "tasks": ["Task: TicTacToe"], "length": 1590}
+{"episode_index": 35, "tasks": ["Task: TicTacToe"], "length": 1801}
+{"episode_index": 36, "tasks": ["Task: TicTacToe"], "length": 1826}
+{"episode_index": 37, "tasks": ["Task: TicTacToe"], "length": 1630}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/episodes_stats.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6ef03777124127260fabb2d39d148c5a190c8bfa
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,38 @@
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diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/info.json b/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cd1d886dfc3c90045c5486a60ace60c8c079645
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 38,
+    "total_frames": 78572,
+    "total_tasks": 1,
+    "total_videos": 228,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:38"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/subtasks.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..88a833203f60fd0d9d9593d4d83f58841955e93f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_13_38_01_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,2038 @@
+{"subtask_index": 0, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: idle: Right hand remains empty at the right side of the workspace, with no obvious translational or rotational movement of the hand or wrist."}
+{"subtask_index": 1, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block on the table in front of the wooden peg base, with fingers slightly open as it approaches the target."}
+{"subtask_index": 2, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, adjusting finger positions and closing fingers around the block with small observable movements of the fingers and wrist to form a grip."}
+{"subtask_index": 3, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating it from the dark table support surface."}
+{"subtask_index": 4, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand transports the lifted green hexagonal block horizontally to position it directly above the target purple peg on the wooden base."}
+{"subtask_index": 5, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reorient: Right hand rotates the grasped green hexagonal block slightly to align its central hexagonal hole with the top of the target purple peg."}
+{"subtask_index": 6, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand guides the aligned green hexagonal block onto the purple peg, inserting the peg through the block's central hole to form an assembly connection."}
+{"subtask_index": 7, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand lowers the green hexagonal block down the purple peg, moving it toward the supporting white block positioned below on the same peg."}
+{"subtask_index": 8, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand releases the green hexagonal block placed on the peg board, opening fingers to separate from the block."}
+{"subtask_index": 9, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downwards empty toward the green hexagonal block resting on the table in front of the peg board, without establishing contact with the target block."}
+{"subtask_index": 10, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making repeated slight adjustments to finger positions and wrist orientation to form a stable grip, with the block remaining on the table surface."}
+{"subtask_index": 11, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table, lifts the nut upward until it is fully separated from the table surface."}
+{"subtask_index": 12, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand holds the lifted white hexagonal nut, moves it toward the purple post on the wooden assembly base until the nut is positioned above the target post."}
+{"subtask_index": 13, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand holds the white hexagonal nut, slightly adjusts its position and orientation to align the nut's hole with the purple post, then fits the nut onto the top of the post."}
+{"subtask_index": 14, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand holds the white hexagonal nut fitted on the purple post, moves the nut downward along the post until the nut rests stably on the green block below."}
+{"subtask_index": 15, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place_release: Right hand sets the white hexagonal block onto the purple peg of the wooden stand and opens fingers to let go of the block."}
+{"subtask_index": 16, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}
+{"subtask_index": 17, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact to secure the block."}
+{"subtask_index": 18, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the firmly grasped white hexagonal nut directly upward to raise it off the black table support surface."}
+{"subtask_index": 19, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand transports the lifted white hexagonal nut upward and forward toward the wooden peg stand, positioning the nut directly above the target purple peg."}
+{"subtask_index": 20, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand makes small positional and rotational adjustments to the grasped white hexagonal nut to align its central hole with the target purple peg on the wooden base, fitting the nut onto the peg to form the assembly."}
+{"subtask_index": 21, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: hold: Right hand holds the fully seated white hexagonal nut on the purple peg with no visible movement of the hand or the nut."}
+{"subtask_index": 22, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate_release: Right hand positions the white hexagonal piece over the purple peg on the wooden board, presses it down to fit securely on the peg, and opens fingers to release the attached piece."}
+{"subtask_index": 23, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal piece resting on the table surface near the front edge of the wooden peg board."}
+{"subtask_index": 24, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal piece on the table to establish a stable grip on the object."}
+{"subtask_index": 25, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the rightmost purple peg on the wooden base."}
+{"subtask_index": 26, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the rightmost purple peg and moves the block downward to fit it onto the peg, establishing the assembled connection."}
+{"subtask_index": 27, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand releases the white hexagonal hollow block placed on the purple peg of the wooden base, with fingers gradually opening to separate from the block."}
+{"subtask_index": 28, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward toward the green hexagonal hollow block resting on the black table surface."}
+{"subtask_index": 29, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand adjusts finger positions around the target green hexagonal hollow block on the table, fingers closing to form a grip on the block."}
+{"subtask_index": 30, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table and moves it upward to the position above the purple rod on the wooden assembly rack."}
+{"subtask_index": 31, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the inner hole of the green hexagonal nut with the purple rod on the rack and lowers the nut to fit onto the rod to complete assembly alignment."}
+{"subtask_index": 32, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand holds the green hexagonal block and lowers it onto the purple wooden peg on the assembly board until the block is supported by the peg."}
+{"subtask_index": 33, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the assembly board peg."}
+{"subtask_index": 34, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block resting on the black table surface."}
+{"subtask_index": 35, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish a stable grip on the block."}
+{"subtask_index": 36, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the wooden peg board."}
+{"subtask_index": 37, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden board and fits the nut down onto the peg."}
+{"subtask_index": 38, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut seated on the purple peg."}
+{"subtask_index": 39, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: idle: Right hand remains empty near the purple rod on the wooden block tray without visible movement."}
+{"subtask_index": 40, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the black table surface to the right of the wooden block tray."}
+{"subtask_index": 41, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand adjusts finger positions and contact points around the white hexagonal nut on the table to form a stable grasp, with continuous small finger movements."}
+{"subtask_index": 42, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: hold: Right hand holds the white hexagonal block above the dark table surface without moving."}
+{"subtask_index": 43, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and moves horizontally toward the wooden rack, positioning the block above the purple vertical rod on the rack."}
+{"subtask_index": 44, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit over the rod."}
+{"subtask_index": 45, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place: Right hand lowers the white hexagonal block to rest on the wooden rack base, with the block fully supported by the rack."}
+{"subtask_index": 46, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, separating the hand from the placed block."}
+{"subtask_index": 47, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves downward and rightward from the area beside the purple post on the tray toward the white hexagonal block resting on the table, with fingers kept open."}
+{"subtask_index": 48, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp on the block."}
+{"subtask_index": 49, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}
+{"subtask_index": 50, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to position it above the purple post on the wooden tray."}
+{"subtask_index": 51, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post, lowering the block slightly to fit it onto the post to form an assembly relationship."}
+{"subtask_index": 52, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple post until the block rests stably on the post base, opening fingers to release contact with the block."}
+{"subtask_index": 53, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: release: Right hand opens fingers to release the white bottle with purple top onto the wooden tray, separating all fingers from the bottle surface."}
+{"subtask_index": 54, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: reach: Right hand moves with empty hand downward and rightward toward the green cubic block on the black table surface, fingers held in an extended position."}
+{"subtask_index": 55, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, adjusting finger contact points to establish a stable grip on the block."}
+{"subtask_index": 56, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: lift: Right hand lifts the green holed cube upward, fully separating it from the black table surface."}
+{"subtask_index": 57, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: transport: Right hand carries the green holed cube horizontally toward the wooden tray holding stacked white and green cylinders."}
+{"subtask_index": 58, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers slightly extended, without any obvious translational or rotational movement. | Right hand: place_release: Right hand lowers the green holed cube to rest on top of the purple-capped cylinder and opens fingers to release grip on the cube."}
+{"subtask_index": 59, "subtask": "Task: TicTacToe"}
+{"subtask_index": 60, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table, with fingers slightly open."}
+{"subtask_index": 61, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 62, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the top of the purple peg on the wooden rack."}
+{"subtask_index": 63, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the purple peg to the bottom, and releases the block with fingers opening."}
+{"subtask_index": 64, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the peg tower, with fingers gradually opening to separate from the block."}
+{"subtask_index": 65, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface, moving downward from the peg tower."}
+{"subtask_index": 66, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 67, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}
+{"subtask_index": 68, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut placed on the green base on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 69, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green base and transports it to the position above a vertical peg on the wooden pegboard."}
+{"subtask_index": 70, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the vertical peg and lowers it to fit onto the peg until fully seated."}
+{"subtask_index": 71, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal nut seated on the vertical peg without moving."}
+{"subtask_index": 72, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden base."}
+{"subtask_index": 73, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}
+{"subtask_index": 74, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers adjusting to form a stable grip."}
+{"subtask_index": 75, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it forward toward the purple peg on the wooden peg board."}
+{"subtask_index": 76, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple vertical peg, moving the ring downward along the peg."}
+{"subtask_index": 77, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the purple peg without moving."}
+{"subtask_index": 78, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the leftmost purple peg of the stacking base and releases its grip."}
+{"subtask_index": 79, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal ring on the table in front of the stacking base."}
+{"subtask_index": 80, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table in front of the stacking base, with fingers adjusting to form a stable grip."}
+{"subtask_index": 81, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical part on the black tabletop at the lower right of the pegboard without moving."}
+{"subtask_index": 82, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part from the tabletop and moves it to above the rightmost purple peg of the pegboard."}
+{"subtask_index": 83, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand fits the white hollow cylindrical part onto the rightmost purple peg of the pegboard and releases it."}
+{"subtask_index": 84, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white ring onto the right purple peg of the wooden base and releases it."}
+{"subtask_index": 85, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal ring on the black table surface."}
+{"subtask_index": 86, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table with fingers closing around it."}
+{"subtask_index": 87, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and transports it upward toward the wooden peg base."}
+{"subtask_index": 88, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the right purple peg of the wooden base."}
+{"subtask_index": 89, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the pegboard, fingers open and separate from the block."}
+{"subtask_index": 90, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 91, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers close and adjust around the block."}
+{"subtask_index": 92, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}
+{"subtask_index": 93, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface, adjusting fingers to form a stable grip."}
+{"subtask_index": 94, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the table surface towards the wooden peg board."}
+{"subtask_index": 95, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple vertical peg of the wooden base, lowering it into place."}
+{"subtask_index": 96, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple peg without moving."}
+{"subtask_index": 97, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward and rightward from the area above the stacked blocks toward the upper white hexagonal block on the table."}
+{"subtask_index": 98, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 99, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the right table surface and lifts it off the table."}
+{"subtask_index": 100, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward to the position above the purple rod on the wooden base."}
+{"subtask_index": 101, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod until it rests on the wooden base."}
+{"subtask_index": 102, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}
+{"subtask_index": 103, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats slightly rightward away from the purple rod."}
+{"subtask_index": 104, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hollow cylindrical piece on the dark table surface, with fingers slightly open."}
+{"subtask_index": 105, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white cylindrical piece on the table, with fingers closing around the piece to form a stable grip."}
+{"subtask_index": 106, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white cylindrical piece upward off the dark table surface."}
+{"subtask_index": 107, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white cylindrical piece upward and leftward to the position above the purple peg on the wooden base."}
+{"subtask_index": 108, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple peg, aligning the inner hole of the piece with the peg and lowering it onto the peg."}
+{"subtask_index": 109, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the white cylinder with a purple rod down onto the wooden base."}
+{"subtask_index": 110, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the green cubic block on the table."}
+{"subtask_index": 111, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table and lifts it off the table surface."}
+{"subtask_index": 112, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green hollow block up from the right side of the black table surface."}
+{"subtask_index": 113, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the green hollow block leftward to the position above the rightmost peg on the wooden base."}
+{"subtask_index": 114, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hollow block onto the rightmost peg, aligning its hole with the peg and lowering it into fitting position."}
+{"subtask_index": 115, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hollow block by gradually opening its fingers and separating from the block."}
+{"subtask_index": 116, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty next to the rightmost peg without moving."}
+{"subtask_index": 117, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green block located on the left side of the wooden rack."}
+{"subtask_index": 118, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}
+{"subtask_index": 119, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block still without any observable movement."}
+{"subtask_index": 120, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}
+{"subtask_index": 121, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it to the position above the purple peg on the wooden base."}
+{"subtask_index": 122, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg, aligning the block's central hole with the peg."}
+{"subtask_index": 123, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to secure it in place."}
+{"subtask_index": 124, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white block onto the purple peg of the wooden base."}
+{"subtask_index": 125, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 126, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 127, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden base."}
+{"subtask_index": 128, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}
+{"subtask_index": 129, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}
+{"subtask_index": 130, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}
+{"subtask_index": 131, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 132, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 133, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and inserts it onto the rod."}
+{"subtask_index": 134, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is properly fitted on the purple rod."}
+{"subtask_index": 135, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod of the wooden base."}
+{"subtask_index": 136, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table in front of the wooden base."}
+{"subtask_index": 137, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 138, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black table."}
+{"subtask_index": 139, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden board."}
+{"subtask_index": 140, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple rod on the wooden board."}
+{"subtask_index": 141, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden board and fits it onto the rod."}
+{"subtask_index": 142, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green block on the black tabletop."}
+{"subtask_index": 143, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the black tabletop."}
+{"subtask_index": 144, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 145, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the green block onto the purple rod and then releases the block."}
+{"subtask_index": 146, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black tabletop."}
+{"subtask_index": 147, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the tabletop."}
+{"subtask_index": 148, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the tabletop and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 149, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple rod on the wooden base."}
+{"subtask_index": 150, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal ring down along the purple rod to secure it."}
+{"subtask_index": 151, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple rod without moving."}
+{"subtask_index": 152, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple peg of the wooden base."}
+{"subtask_index": 153, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white cylindrical ring on the black tabletop."}
+{"subtask_index": 154, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical ring on the black tabletop."}
+{"subtask_index": 155, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 156, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod, lowering it until the ring is fully fitted onto the rod."}
+{"subtask_index": 157, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}
+{"subtask_index": 158, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}
+{"subtask_index": 159, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 160, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod on the wooden base and releases the block."}
+{"subtask_index": 161, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table."}
+{"subtask_index": 162, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}
+{"subtask_index": 163, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green square block on the table without moving."}
+{"subtask_index": 164, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green square block on the right table surface."}
+{"subtask_index": 165, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the rightmost white pillar on the wooden base."}
+{"subtask_index": 166, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white pillar and fits it onto the pillar."}
+{"subtask_index": 167, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block placed on the white pillar."}
+{"subtask_index": 168, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves left and downward with open fingers toward the green hexagonal block located at the front-left of the wooden peg board."}
+{"subtask_index": 169, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight adjustments to finger positions to establish grip."}
+{"subtask_index": 170, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 171, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the held green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}
+{"subtask_index": 172, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or block."}
+{"subtask_index": 173, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place_release: Right hand positions the white and green blocks onto the wooden rack, releasing fingers to leave the blocks stably supported on the rack."}
+{"subtask_index": 174, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from the wooden rack toward the white hexagonal nut on the table surface, making no contact with the nut."}
+{"subtask_index": 175, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grip on the nut."}
+{"subtask_index": 176, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily above the table surface without observable movement."}
+{"subtask_index": 177, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 178, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position above the purple peg on the wooden assembly rack."}
+{"subtask_index": 179, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align its central hole with the purple peg, partially inserting the nut onto the peg."}
+{"subtask_index": 180, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until the nut is stably supported by the green base under the peg."}
+{"subtask_index": 181, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: release: Right hand releases the white cylindrical nut mounted on the wooden rack, fingers opening to separate from the nut which stays on the rack post."}
+{"subtask_index": 182, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface, approaching the target without establishing contact."}
+{"subtask_index": 183, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small positional and finger adjustments to form a stable grip while the nut remains resting on the table surface."}
+{"subtask_index": 184, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the black table surface, with no observable movement of the hand, fingers or the gripped nut."}
+{"subtask_index": 185, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white nut off the table and carries it upward toward the wooden peg board, stopping above the leftmost purple peg."}
+{"subtask_index": 186, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the white nut's position to align its central hole with the leftmost purple peg and lowers the nut to nest onto the peg."}
+{"subtask_index": 187, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white nut seated on the existing lower white nut on the leftmost purple peg without moving."}
+{"subtask_index": 188, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves forward and downward toward the white hexagonal nut resting on the black table surface in front of the wooden peg base, with fingers held in a slightly open position as it approaches the target."}
+{"subtask_index": 189, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface to establish a stable grip on the object."}
+{"subtask_index": 190, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, with no observable changes to hand position, finger posture, or nut placement."}
+{"subtask_index": 191, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand makes small adjustments to its fingers and wrist to stabilize the grasp on the white hexagonal nut resting on the table."}
+{"subtask_index": 192, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position directly above the purple post on the wooden base."}
+{"subtask_index": 193, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post and lowers the nut slightly to fit it onto the top of the post."}
+{"subtask_index": 194, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place: Right hand slides the white hexagonal nut down along the purple post until the nut rests stably on the surface of the wooden base."}
+{"subtask_index": 195, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut."}
+{"subtask_index": 196, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface with fingers open."}
+{"subtask_index": 197, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting grip until stable."}
+{"subtask_index": 198, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely off the table surface."}
+{"subtask_index": 199, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: transport: Right hand carries the green hexagonal block toward the purple post on the wooden assembly base, positioning it above the post."}
+{"subtask_index": 200, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple post on the wooden base."}
+{"subtask_index": 201, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place: Right hand lowers the aligned green hexagonal block onto the purple post until the block is supported by the post."}
+{"subtask_index": 202, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any observable movement."}
+{"subtask_index": 203, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place_release: Right hand holds the green ring, seats it onto the purple vertical post and opens fingers to release the ring."}
+{"subtask_index": 204, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward from the block assembly toward the white hexagonal nut on the black table surface."}
+{"subtask_index": 205, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger and wrist positions to establish a grip on the nut."}
+{"subtask_index": 206, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward to the position above the purple rod on the wooden assembly base."}
+{"subtask_index": 207, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making slight positional adjustments to fit the nut onto the rod for assembly."}
+{"subtask_index": 208, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from above the wooden block set with fingers open, approaching the white hexagonal nut placed on the table near the right edge of the set."}
+{"subtask_index": 209, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip slightly to form a stable hold on the nut."}
+{"subtask_index": 210, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the table surface."}
+{"subtask_index": 211, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward to position it directly above the purple rod on the wooden block set."}
+{"subtask_index": 212, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the wooden block set, fits the nut down onto the rod with small positional adjustments, opens fingers to release the nut resting on the rod."}
+{"subtask_index": 213, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the light purple cylinder on the wooden base without moving."}
+{"subtask_index": 214, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: release: Right hand opens fingers to release the light purple cylinder, moving away from the wooden base."}
+{"subtask_index": 215, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface."}
+{"subtask_index": 216, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut to form a stable grip."}
+{"subtask_index": 217, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table without visible movement."}
+{"subtask_index": 218, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the area above the purple rod on the wooden block stand."}
+{"subtask_index": 219, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, and fits the block onto the top of the purple rod."}
+{"subtask_index": 220, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod until the block rests stably on the lower white block on the wooden stand, and opens fingers to release the block."}
+{"subtask_index": 221, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the green holed block resting on the dark table surface, approaching the block without making contact."}
+{"subtask_index": 222, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green holed block on the table, adjusting finger positions to form a stable grasp while the block remains supported by the table."}
+{"subtask_index": 223, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green holed block completely off the table surface, transporting the block upward and leftward to the position directly above the purple-topped white cylinder on the wooden rack."}
+{"subtask_index": 224, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with no contact to any objects. | Right hand: mate_release: Right hand aligns the central hole of the green block with the purple-topped white cylinder, lowers the block to fit it securely onto the cylinder top, opening fingers to release the block from the grasp."}
+{"subtask_index": 225, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and slightly forward from the right side of the table toward the green cubic block on the table surface, keeping fingers open and not contacting the block."}
+{"subtask_index": 226, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green cubic block, with fingers closing to establish and adjust the grasp on the block."}
+{"subtask_index": 227, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}
+{"subtask_index": 228, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form a stable grip."}
+{"subtask_index": 229, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it toward the purple pegs on the wooden base."}
+{"subtask_index": 230, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base, aligning and fitting it into place."}
+{"subtask_index": 231, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg of the wooden base without moving."}
+{"subtask_index": 232, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the purple peg of the wooden base and releases the piece."}
+{"subtask_index": 233, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table with empty hand."}
+{"subtask_index": 234, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}
+{"subtask_index": 235, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}
+{"subtask_index": 236, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 237, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table and transports it to the position above the left purple peg."}
+{"subtask_index": 238, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the left purple peg and inserts it downward to fit onto the peg."}
+{"subtask_index": 239, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the left purple peg without moving."}
+{"subtask_index": 240, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the front-right purple peg of the wooden base."}
+{"subtask_index": 241, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the lower-left area of the table."}
+{"subtask_index": 242, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left area of the table with fingers closing."}
+{"subtask_index": 243, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the front-left purple peg of the wooden base."}
+{"subtask_index": 244, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg by aligning the hole and inserting it downward."}
+{"subtask_index": 245, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}
+{"subtask_index": 246, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the purple rod inserted in the top white building block."}
+{"subtask_index": 247, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the purple rod downward to the position above the front white hexagonal block on the table."}
+{"subtask_index": 248, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the purple rod with the hole of the front white hexagonal block on the table."}
+{"subtask_index": 249, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its fingers to form a stable grip."}
+{"subtask_index": 250, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it upward and leftward towards the wooden peg board."}
+{"subtask_index": 251, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg on the wooden base and lowers it onto the peg, making small positional adjustments to complete the assembly."}
+{"subtask_index": 252, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal ring, leaving the ring seated on the purple peg."}
+{"subtask_index": 253, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upward and away from the purple peg after releasing the ring."}
+{"subtask_index": 254, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the green hexagonal block on the black table."}
+{"subtask_index": 255, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}
+{"subtask_index": 256, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and moves the green hexagonal block from the table to above the right purple peg on the pegboard."}
+{"subtask_index": 257, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the right purple peg and slides it down onto the peg for assembly."}
+{"subtask_index": 258, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the right peg of the wooden base."}
+{"subtask_index": 259, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower left area of the table."}
+{"subtask_index": 260, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps the white hexagonal block on the lower left area of the table, then releases it quickly."}
+{"subtask_index": 261, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves upward toward the upper white hexagonal block on the table."}
+{"subtask_index": 262, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block with fingers closing around it."}
+{"subtask_index": 263, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the upper white hexagonal block off the table and transports it downward to a lower position."}
+{"subtask_index": 264, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the table surface and releases it."}
+{"subtask_index": 265, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward and away from the just-placed white hexagonal block."}
+{"subtask_index": 266, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the lowest white hexagonal block next to the green block."}
+{"subtask_index": 267, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lowest white hexagonal block next to the green block with fingers adjusting to hold it."}
+{"subtask_index": 268, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the supporting surface and transports it towards the purple peg on the wooden base."}
+{"subtask_index": 269, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple peg by aligning and lowering it along the peg."}
+{"subtask_index": 270, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the building block stack, with fingers opening."}
+{"subtask_index": 271, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table."}
+{"subtask_index": 272, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the upper white hexagonal block on the table without moving."}
+{"subtask_index": 273, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the upper white hexagonal block on the table slightly."}
+{"subtask_index": 274, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves slightly toward the upper white hexagonal block on the table."}
+{"subtask_index": 275, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a hole on the right table surface, fingers adjusting to form a stable grip."}
+{"subtask_index": 276, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block with a hole off the table surface."}
+{"subtask_index": 277, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block with a hole leftward toward the purple vertical rod on the wooden base."}
+{"subtask_index": 278, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with a hole onto the purple vertical rod, adjusting position to fit the rod through the block's hole."}
+{"subtask_index": 279, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg of the wooden base without moving."}
+{"subtask_index": 280, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple peg, with fingers opening and separating from the piece."}
+{"subtask_index": 281, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and toward the white hexagonal piece on the black table surface near the green cube."}
+{"subtask_index": 282, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing around the piece."}
+{"subtask_index": 283, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the dark table surface without moving."}
+{"subtask_index": 284, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it leftward toward the purple peg on the wooden base."}
+{"subtask_index": 285, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple peg by aligning its central hole and lowering it onto the peg."}
+{"subtask_index": 286, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder with purple top on the wooden base, fingers open and separate from the cylinder."}
+{"subtask_index": 287, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the green cube on the black table, not yet touching the cube."}
+{"subtask_index": 288, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the black table, fingers close around the cube."}
+{"subtask_index": 289, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_reorient: Right hand lifts the green cube slightly and rotates it about 180 degrees to make the hole face upward."}
+{"subtask_index": 290, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the rotated green cube back on the black table until it is supported by the table."}
+{"subtask_index": 291, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube on the black table, fingers open and separate from the cube."}
+{"subtask_index": 292, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty beside the green cube on the black table without moving."}
+{"subtask_index": 293, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves toward the green cube and grasps it, fingers close around the cube."}
+{"subtask_index": 294, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the black table without moving."}
+{"subtask_index": 295, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the rightmost white pillar on the wooden base."}
+{"subtask_index": 296, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white pillar and fits the block onto the pillar."}
+{"subtask_index": 297, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers."}
+{"subtask_index": 298, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table, without touching the object."}
+{"subtask_index": 299, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block on the black table, with fingers adjusting to form a stable grasp."}
+{"subtask_index": 300, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}
+{"subtask_index": 301, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green block down onto the leftmost purple rod until it is fully fitted to the base."}
+{"subtask_index": 302, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green block and moves away from the wooden base."}
+{"subtask_index": 303, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}
+{"subtask_index": 304, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}
+{"subtask_index": 305, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it towards the purple rod on the green base."}
+{"subtask_index": 306, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the green base."}
+{"subtask_index": 307, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 308, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop by closing its fingers."}
+{"subtask_index": 309, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple peg on the wooden base."}
+{"subtask_index": 310, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it onto the peg."}
+{"subtask_index": 311, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it."}
+{"subtask_index": 312, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block, separating from the block."}
+{"subtask_index": 313, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the upper block assembly position towards the white hexagonal block on the table near the wooden base."}
+{"subtask_index": 314, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts and grasps the white hexagonal block on the table near the wooden base, adjusting fingers to form a stable grip."}
+{"subtask_index": 315, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}
+{"subtask_index": 316, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal object towards the purple peg on the wooden base."}
+{"subtask_index": 317, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg of the wooden base."}
+{"subtask_index": 318, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the purple peg without moving."}
+{"subtask_index": 319, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple peg and moves fingers away."}
+{"subtask_index": 320, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 321, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves down toward the green hexagonal block on the black table surface."}
+{"subtask_index": 322, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface."}
+{"subtask_index": 323, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the black table surface."}
+{"subtask_index": 324, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the green hexagonal block toward the purple peg on the wooden base."}
+{"subtask_index": 325, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 326, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hexagonal block from its grip."}
+{"subtask_index": 327, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 328, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 329, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black tabletop to adjust and form a stable grip."}
+{"subtask_index": 330, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it towards the peg on the green block of the wooden base."}
+{"subtask_index": 331, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the peg on the green block of the wooden base."}
+{"subtask_index": 332, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the peg without moving."}
+{"subtask_index": 333, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}
+{"subtask_index": 334, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release_reach: Right hand releases the placed white cylindrical block and moves toward the white hexagonal block on the table."}
+{"subtask_index": 335, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form stable grip."}
+{"subtask_index": 336, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden base."}
+{"subtask_index": 337, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 338, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block that is placed on the purple rod."}
+{"subtask_index": 339, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white cylinder with purple top into the hole on the wooden base."}
+{"subtask_index": 340, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 341, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 342, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}
+{"subtask_index": 343, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand holds the white hexagonal object and moves it towards the purple rod on the wooden tray."}
+{"subtask_index": 344, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it onto the rod."}
+{"subtask_index": 345, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the green square block placed on the black table surface."}
+{"subtask_index": 346, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black table."}
+{"subtask_index": 347, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it towards the white pillar on the wooden base."}
+{"subtask_index": 348, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green square block with the white pillar and inserts it onto the pillar."}
+{"subtask_index": 349, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green square block from its grip."}
+{"subtask_index": 350, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward and leftward from its initial raised position toward the green hexagonal block on the table near the wooden pegboard, with fingers held slightly extended."}
+{"subtask_index": 351, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the target green hexagonal block on the table, making fine finger and wrist adjustments to establish a stable grip on the block."}
+{"subtask_index": 352, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers, or the gripped block."}
+{"subtask_index": 353, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand adjusts its finger positions to establish a stable grasp around the green hexagonal block resting on the black table surface near the wooden assembly base."}
+{"subtask_index": 354, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block fully off the black table surface and moves it upward to the position directly above the target purple post on the wooden assembly base."}
+{"subtask_index": 355, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple post, lowering the block slightly to fit it onto the post."}
+{"subtask_index": 356, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple post until it rests stably on the surface of the wooden assembly base."}
+{"subtask_index": 357, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward and forward from the block assembly area toward the white hexagonal nut on the table surface, without contacting the nut."}
+{"subtask_index": 358, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand fingers close around the white hexagonal nut on the table, adjusting finger contact points to form a stable grip on the nut."}
+{"subtask_index": 359, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand moves upward while holding the grasped white hexagonal nut, lifting the nut completely off the table surface."}
+{"subtask_index": 360, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand makes small finger adjustments to establish a stable grip on the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 361, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and transports it upward to the position directly above the target purple peg on the wooden assembly board."}
+{"subtask_index": 362, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple peg, lowers the nut to fit securely onto the peg, opens its fingers to release the fully assembled nut."}
+{"subtask_index": 363, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from the position near the wooden assembly stand to approach the white hexagonal nut on the black table surface, remaining empty before making contact with the nut."}
+{"subtask_index": 364, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut stays on the table surface."}
+{"subtask_index": 365, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves it upward and forward to position it directly above the empty purple peg on the wooden assembly stand."}
+{"subtask_index": 366, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg below, moves the nut downward to fit it onto the peg with small positional adjustments to complete the nesting fit."}
+{"subtask_index": 367, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted onto the purple peg, separating the hand from the nut."}
+{"subtask_index": 368, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from above the wooden block set toward the white hexagonal nut placed on the table in front of the wooden base."}
+{"subtask_index": 369, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip, with the nut still resting on the table surface."}
+{"subtask_index": 370, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely lifted off the table surface."}
+{"subtask_index": 371, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and horizontally to position it directly above the target purple vertical rod on the wooden base."}
+{"subtask_index": 372, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and adjusts its position to fit the nut onto the rod."}
+{"subtask_index": 373, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to fall onto the table surface below."}
+{"subtask_index": 374, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from above the wooden base toward the white hexagonal nut that fell onto the table near the base."}
+{"subtask_index": 375, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}
+{"subtask_index": 376, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut on the table surface without observable movement."}
+{"subtask_index": 377, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to form a stable closed grip around the white hexagonal block resting on the table adjacent to the wooden assembly base."}
+{"subtask_index": 378, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves it upward to a position directly above the purple vertical rod on the wooden base."}
+{"subtask_index": 379, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the tip of the purple rod, fits the block onto the rod to establish the assembly connection with slight positional adjustments."}
+{"subtask_index": 380, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: place_release: Right hand slides the white hexagonal block down the purple rod until it rests securely on the stacked blocks below, opens fingers to release the block and break contact."}
+{"subtask_index": 381, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward from above the wooden assembly board toward the left green hexagonal block on the table surface, maintaining a slightly open finger posture throughout the movement."}
+{"subtask_index": 382, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target left green hexagonal block on the table, fingers gradually close and adjust contact positions to establish a grip on the block."}
+{"subtask_index": 383, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position directly above the purple vertical rod on the wooden assembly base."}
+{"subtask_index": 384, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it onto the rod, assembling the block onto the stand."}
+{"subtask_index": 385, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the green block placed on the wooden assembly base, breaking contact with the block."}
+{"subtask_index": 386, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward with empty fingers towards the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 387, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grip."}
+{"subtask_index": 388, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward until the block fully leaves the black table surface."}
+{"subtask_index": 389, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: transport: Right hand carries the grasped white hexagonal block to move toward the purple post on the wooden assembly stand."}
+{"subtask_index": 390, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and lowers the block to fit it onto the post to complete the assembly alignment."}
+{"subtask_index": 391, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the white block on the stacked block assembly, breaking contact with the block."}
+{"subtask_index": 392, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward from the stacked block area to approach the upper white hexagonal block resting on the table."}
+{"subtask_index": 393, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand positions near the upper white hexagonal block, fingers closing to make contact and adjust grip to form a stable grasp."}
+{"subtask_index": 394, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}
+{"subtask_index": 395, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple rod on the wooden block stand."}
+{"subtask_index": 396, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, lowering the block to fit it onto the rod to complete the nested assembly."}
+{"subtask_index": 397, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any observable movement of the hand or block."}
+{"subtask_index": 398, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release grip on the white hexagonal block fitted on the purple rod, separating fingers from the block."}
+{"subtask_index": 399, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: retreat: Right hand moves empty away from the wooden block stand after releasing the white hexagonal block."}
+{"subtask_index": 400, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden base and fits the block onto the rod to complete the assembly."}
+{"subtask_index": 401, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves empty toward the loose white hexagonal block placed on the table surface next to the green block, approaching the target block without establishing contact."}
+{"subtask_index": 402, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making slight contact adjustments to form a grasp on the block."}
+{"subtask_index": 403, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}
+{"subtask_index": 404, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it above the purple rod on the wooden block base."}
+{"subtask_index": 405, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it onto the existing block stack on the rod."}
+{"subtask_index": 406, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, which rests stably on the block stack."}
+{"subtask_index": 407, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: retreat: Right hand moves empty downward and away from the wooden block base."}
+{"subtask_index": 408, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the green cube on the table surface with fingers spread open."}
+{"subtask_index": 409, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the green cube on the table to form a stable grip, with the cube remaining on the table surface."}
+{"subtask_index": 410, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and moves it upward and leftward to the position above the empty slot on the wooden block set."}
+{"subtask_index": 411, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or contact with any objects. | Right hand: place_release: Right hand lowers the green cube onto the white cylindrical post on the wooden block set, makes small positional adjustments to align the cube with the post until the cube is stably supported, and opens fingers to separate from the cube."}
+{"subtask_index": 412, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal part below the left side of the peg board, with fingers slightly open."}
+{"subtask_index": 413, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 414, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal part on the table without moving."}
+{"subtask_index": 415, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, with fingers closing and adjusting to form a stable grip on the block."}
+{"subtask_index": 416, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it rightward and upward to align with the leftmost peg of the wooden pegboard."}
+{"subtask_index": 417, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost peg of the wooden pegboard, lowering the block to fit its hole onto the peg."}
+{"subtask_index": 418, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downward along the peg until it rests on the surface of the wooden pegboard."}
+{"subtask_index": 419, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the peg, with fingers opening to separate from the block."}
+{"subtask_index": 420, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the green block on the pegboard."}
+{"subtask_index": 421, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical component onto the purple pegs of the wooden base and releases the component."}
+{"subtask_index": 422, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}
+{"subtask_index": 423, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the table surface with slight grip adjustments."}
+{"subtask_index": 424, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table surface without moving."}
+{"subtask_index": 425, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 426, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position above the leftmost post of the rack."}
+{"subtask_index": 427, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost post of the rack and fits it down onto the post."}
+{"subtask_index": 428, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the leftmost post of the rack without moving."}
+{"subtask_index": 429, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table."}
+{"subtask_index": 430, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 431, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}
+{"subtask_index": 432, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 433, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward toward the purple peg on the wooden rack."}
+{"subtask_index": 434, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering it onto the peg."}
+{"subtask_index": 435, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden rack without moving."}
+{"subtask_index": 436, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white block onto the purple peg of the stacking toy and releases the block."}
+{"subtask_index": 437, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the stacking toy."}
+{"subtask_index": 438, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}
+{"subtask_index": 439, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the black table without moving."}
+{"subtask_index": 440, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hollow hexagonal block from the black table to the position above the purple peg on the wooden base."}
+{"subtask_index": 441, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block with the purple peg on the wooden base by lowering and fitting it onto the peg."}
+{"subtask_index": 442, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hollow cylinder onto the purple rod on the wooden base and releases the cylinder."}
+{"subtask_index": 443, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table."}
+{"subtask_index": 444, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table with fingers adjusting to form a stable grip."}
+{"subtask_index": 445, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the middle front purple peg of the wooden pegboard."}
+{"subtask_index": 446, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the middle front purple peg and adjusts its position to fit properly."}
+{"subtask_index": 447, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the peg with fingers opening and separating from the block."}
+{"subtask_index": 448, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upward from the green block on the pegboard."}
+{"subtask_index": 449, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the wooden pegboard without moving."}
+{"subtask_index": 450, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the purple rod of the wooden base and releases the piece."}
+{"subtask_index": 451, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table with fingers slightly open."}
+{"subtask_index": 452, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 453, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 454, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}
+{"subtask_index": 455, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}
+{"subtask_index": 456, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod of the wooden base, with fingers opening."}
+{"subtask_index": 457, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward towards the upper loose white hexagonal piece on the table, with fingers slightly open."}
+{"subtask_index": 458, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper loose white hexagonal piece on the table, with fingers closing and adjusting grip."}
+{"subtask_index": 459, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece off the table and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 460, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal piece with the purple rod and lowers it to mate the piece onto the rod."}
+{"subtask_index": 461, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal piece, with fingers opening and separating from the piece."}
+{"subtask_index": 462, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}
+{"subtask_index": 463, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the surface."}
+{"subtask_index": 464, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block back onto the table and releases it."}
+{"subtask_index": 465, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table surface again."}
+{"subtask_index": 466, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand briefly grasps the white hexagonal block and then releases it."}
+{"subtask_index": 467, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand slowly approaches the white hexagonal block on the table surface."}
+{"subtask_index": 468, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block from the lower right area of the table to the position above the purple rod on the wooden board."}
+{"subtask_index": 469, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block with the purple rod by aligning and inserting it onto the rod, then releases the block."}
+{"subtask_index": 470, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position above the wooden block rack toward the green cubic block on the black tabletop."}
+{"subtask_index": 471, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the tabletop, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 472, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the tabletop and transports it to the position above the front-right white post on the wooden rack."}
+{"subtask_index": 473, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the hole of the green cubic block with the front-right white post on the wooden rack, fits the block onto the post, and releases the block."}
+{"subtask_index": 474, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves forward from the right side towards the green hexagonal block in front of the wooden base, no contact with the block during movement."}
+{"subtask_index": 475, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand touches the green hexagonal block, closes fingers and adjusts hand position slightly to form a stable grasp on the block."}
+{"subtask_index": 476, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green block from the black table and moves it toward the purple peg on the wooden base."}
+{"subtask_index": 477, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand fits the green block onto the purple peg of the wooden base."}
+{"subtask_index": 478, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white block on top of the purple peg."}
+{"subtask_index": 479, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place: Right hand places the white block onto the green block on the purple peg."}
+{"subtask_index": 480, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the wooden base area towards the white hexagonal block on the black table."}
+{"subtask_index": 481, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the black table."}
+{"subtask_index": 482, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to above the leftmost purple rod of the rack."}
+{"subtask_index": 483, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}
+{"subtask_index": 484, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block that has been placed on the purple rod."}
+{"subtask_index": 485, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}
+{"subtask_index": 486, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 487, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 488, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 489, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 490, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block inserted on the purple rod without moving."}
+{"subtask_index": 491, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}
+{"subtask_index": 492, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical block just mated on the purple rod."}
+{"subtask_index": 493, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches toward the white cylindrical block on the table near the wooden base."}
+{"subtask_index": 494, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}
+{"subtask_index": 495, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the white hexagonal block upwards until it completely leaves the table surface."}
+{"subtask_index": 496, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack, moving it to the position right above the rod."}
+{"subtask_index": 497, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod and adjusting to fit."}
+{"subtask_index": 498, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place: Right hand places the white cylindrical block onto the peg on the wooden base."}
+{"subtask_index": 499, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green square block on the table near the wooden base."}
+{"subtask_index": 500, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand contacts the green square block, fingers close and adjust to form a stable grasp on the block."}
+{"subtask_index": 501, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}
+{"subtask_index": 502, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the green cubic block above the purple rod on the wooden base."}
+{"subtask_index": 503, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the green cubic block onto the purple rod, pressing it down to fit onto the wooden base."}
+{"subtask_index": 504, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches toward the white ring block on the table near the green block."}
+{"subtask_index": 505, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white ring block on the table."}
+{"subtask_index": 506, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 507, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}
+{"subtask_index": 508, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats upwards away from the wooden base."}
+{"subtask_index": 509, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base."}
+{"subtask_index": 510, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downwards towards the upper white hexagonal block on the table surface."}
+{"subtask_index": 511, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}
+{"subtask_index": 512, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 513, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}
+{"subtask_index": 514, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base."}
+{"subtask_index": 515, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hex block on the table surface."}
+{"subtask_index": 516, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hex block on the table surface."}
+{"subtask_index": 517, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hex block from the table and transports it to above the purple rod of the wooden base."}
+{"subtask_index": 518, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hex block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 519, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hex block after it is fitted onto the purple rod."}
+{"subtask_index": 520, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press_release: Right hand presses the white cylindrical block on the wooden base and then releases the block."}
+{"subtask_index": 521, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the green cubic block on the black tabletop."}
+{"subtask_index": 522, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green cubic block on the tabletop, adjusting fingers to form stable grip."}
+{"subtask_index": 523, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reorient: Right hand rotates the green cubic block slightly on the tabletop to adjust its orientation."}
+{"subtask_index": 524, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green cubic block upward off the black tabletop."}
+{"subtask_index": 525, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the green ring towards the white bottles on the wooden base."}
+{"subtask_index": 526, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green ring with the top of the target white bottle on the wooden base."}
+{"subtask_index": 527, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the green ring down onto the white bottle until it is properly fitted."}
+{"subtask_index": 528, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green ring and separates from the bottle."}
+{"subtask_index": 529, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves from its initial raised position on the right toward the area adjacent to the light brown wooden base, staying empty as it approaches the target objects."}
+{"subtask_index": 530, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand positions close to the green hexagonal block near the wooden base, closing fingers and making small wrist and finger adjustments to form a grip on the block."}
+{"subtask_index": 531, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand holds the green hexagonal block on the table surface, lifts it upward completely off the table, and transports it to the position directly above the purple assembly peg on the wooden base."}
+{"subtask_index": 532, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand adjusts the position of the green hexagonal block slightly, aligns its central hole with the purple peg and fits the hole onto the top of the peg to establish the assembly alignment."}
+{"subtask_index": 533, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg, and places it steadily onto the top surface of the lower green block fixed on the peg."}
+{"subtask_index": 534, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from the area near the wooden block stand toward the white hexagonal nut placed on the table surface in front of the stand, with no contact to the target nut yet."}
+{"subtask_index": 535, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions and gradually closes fingers around the target white hexagonal nut on the table to establish a stable grasp, with the nut remaining resting on the table surface throughout the movement."}
+{"subtask_index": 536, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 537, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple peg, making slight position adjustments to fit the nut onto the top of the peg."}
+{"subtask_index": 538, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut partially fitted on the purple peg without any observable movement of the hand or the nut."}
+{"subtask_index": 539, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg, placing it onto the lower white nut on the peg until the nut is stably supported."}
+{"subtask_index": 540, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward and forward with an empty open hand, approaching the white hexagonal nut on the black table surface without making contact."}
+{"subtask_index": 541, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, gradually closing fingers and adjusting hand position to form a grip around the nut."}
+{"subtask_index": 542, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly stand."}
+{"subtask_index": 543, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, and lowers the nut to fit onto the rod to complete assembly alignment."}
+{"subtask_index": 544, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod of the wooden assembly stand without any observable movement."}
+{"subtask_index": 545, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from above the wooden assembly base toward the white hexagonal block resting on the table in front of the base, with fingers held in an open posture as it approaches the block."}
+{"subtask_index": 546, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block, adjusting finger contact to form a stable grip on the block while the block remains on the table surface."}
+{"subtask_index": 547, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving the block upward to position it directly above the purple peg on the wooden base."}
+{"subtask_index": 548, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple peg, moving the block slightly downward to fit onto the peg."}
+{"subtask_index": 549, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place_release: Right hand lowers the white hexagonal block down onto the wooden base surface, opening its fingers to release the block and separate the hand from the block."}
+{"subtask_index": 550, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from the position above the wooden stacking toy toward the green hexagonal nut resting on the black table surface, without making contact with the nut."}
+{"subtask_index": 551, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table to establish a stable grip."}
+{"subtask_index": 552, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and transports it upward to the position directly above the empty purple rod on the wooden stacking base."}
+{"subtask_index": 553, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the top of the purple rod, and fits the nut onto the rod to form an assembly connection."}
+{"subtask_index": 554, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand moves the green hexagonal nut downward along the purple rod until the nut rests stably on the supporting white block on the wooden base."}
+{"subtask_index": 555, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downwards from the area above the wooden block base toward the white hexagonal nut resting on the dark table surface, with fingers extended in preparation for grasping."}
+{"subtask_index": 556, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, adjusting finger positions slightly to form a stable grip on the nut while the nut remains supported by the table."}
+{"subtask_index": 557, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark table surface, then moves the nut upwards and toward the purple vertical peg mounted on the wooden block base."}
+{"subtask_index": 558, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple vertical peg on the wooden base, lowering the nut onto the peg and making small positional adjustments to fit the nut onto the peg."}
+{"subtask_index": 559, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the green base of the wooden stand, separating from the block."}
+{"subtask_index": 560, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block placed on the black table next to the wooden stand."}
+{"subtask_index": 561, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table, adjusting finger positions to form a grip on the block."}
+{"subtask_index": 562, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the small wooden piece, moving it upward and leftward to the position above the empty slot on the wooden block set."}
+{"subtask_index": 563, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place: Right hand lowers the white hexagonal block downward, setting it into the empty slot on the wooden block set until the block is fully supported by the wooden base."}
+{"subtask_index": 564, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward from the area near the wooden block base toward the white hexagonal block on the table surface, making no contact with the block."}
+{"subtask_index": 565, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}
+{"subtask_index": 566, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to a position directly above the purple vertical rod."}
+{"subtask_index": 567, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top end of the purple vertical rod, lowering the block to fit onto the rod."}
+{"subtask_index": 568, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without any movement, keeping the block at the upper portion of the rod."}
+{"subtask_index": 569, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple vertical rod until the block rests on the wooden base, fingers opening to release contact with the block."}
+{"subtask_index": 570, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface, with fingers slightly open as it approaches the target."}
+{"subtask_index": 571, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to establish a stable grip on the object."}
+{"subtask_index": 572, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is completely lifted off the table surface."}
+{"subtask_index": 573, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: transport: Right hand carries the green cube upward and leftward to position it directly above the top of the rightmost white bottle on the wooden holder."}
+{"subtask_index": 574, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: mate: Right hand aligns the green cube with the top of the white bottle and lowers the cube to fit it snugly onto the bottle top."}
+{"subtask_index": 575, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement or posture change. | Right hand: release: Right hand opens its fingers to release the green cube fitted on the bottle top, separating the hand from the placed cube."}
+{"subtask_index": 576, "subtask": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture from upright closed position to open position at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal object on the table in front of the wooden rack."}
+{"subtask_index": 577, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal object on the table in front of the wooden rack."}
+{"subtask_index": 578, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal object on the table surface."}
+{"subtask_index": 579, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the green hexagonal object upward off the table surface."}
+{"subtask_index": 580, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand carries the green hexagonal object upward to align with the leftmost purple rod on the wooden rack."}
+{"subtask_index": 581, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand fits the green hexagonal object onto the leftmost purple rod on the wooden rack."}
+{"subtask_index": 582, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases its grasp from the green hexagonal object on the purple rod."}
+{"subtask_index": 583, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and moves it to the position above the leftmost peg of the wooden pegboard."}
+{"subtask_index": 584, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it onto the peg."}
+{"subtask_index": 585, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost peg to adjust its position."}
+{"subtask_index": 586, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white-capped purple rod components on the wooden rack."}
+{"subtask_index": 587, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the tabletop."}
+{"subtask_index": 588, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block, adjusting finger positions to form a stable grip."}
+{"subtask_index": 589, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation."}
+{"subtask_index": 590, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}
+{"subtask_index": 591, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reorient: Right hand rotates and slightly moves the white hexagonal block on the tabletop to adjust its orientation."}
+{"subtask_index": 592, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: push: Right hand pushes the white hexagonal block leftward across the tabletop."}
+{"subtask_index": 593, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, with fingers separating from the block."}
+{"subtask_index": 594, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward to approach the white hexagonal block near the left hand."}
+{"subtask_index": 595, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block again, adjusting finger positions to stabilize the grip."}
+{"subtask_index": 596, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting its fingers to form a stable grip."}
+{"subtask_index": 597, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the leftmost purple rod on the wooden rack."}
+{"subtask_index": 598, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the rack, sliding it down along the rod to complete the assembly."}
+{"subtask_index": 599, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}
+{"subtask_index": 600, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward and leftward toward the white hexagonal block on the lower left of the table, with the hand remaining empty."}
+{"subtask_index": 601, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower left of the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 602, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}
+{"subtask_index": 603, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the black table."}
+{"subtask_index": 604, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden rack."}
+{"subtask_index": 605, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden rack and releases the block."}
+{"subtask_index": 606, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach_grasp: Right hand reaches toward the lower white hexagonal block on the black table and grasps it."}
+{"subtask_index": 607, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 608, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the front-right purple peg on the wooden base."}
+{"subtask_index": 609, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the front-right purple peg by aligning and lowering it onto the peg."}
+{"subtask_index": 610, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening to separate from the block."}
+{"subtask_index": 611, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place_release: Right hand places the white hollow hexagonal block onto the purple peg of the wooden base, releasing it upon placement."}
+{"subtask_index": 612, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to reach toward the green hollow hexagonal block on the black table."}
+{"subtask_index": 613, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 614, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple rod on the wooden rack."}
+{"subtask_index": 615, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod by lowering it to fit onto the rod."}
+{"subtask_index": 616, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}
+{"subtask_index": 617, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases its grip."}
+{"subtask_index": 618, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 619, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}
+{"subtask_index": 620, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position above the purple rod on the wooden board."}
+{"subtask_index": 621, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden board and moves downward to fit the piece onto the rod."}
+{"subtask_index": 622, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal piece on the purple rod and retreats slightly upward away from the piece."}
+{"subtask_index": 623, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part on the right side of the wooden tray, with fingers opening and separating from the part."}
+{"subtask_index": 624, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves empty toward the upper white hexagonal hollow part on the black table."}
+{"subtask_index": 625, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the upper white hexagonal hollow part on the table, with fingers closing and adjusting grip posture."}
+{"subtask_index": 626, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the table and transports it to above the purple rod on the wooden tray."}
+{"subtask_index": 627, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal hollow part with the purple rod and inserts it onto the rod to form an assembly relationship."}
+{"subtask_index": 628, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal hollow part along the purple rod until it is stably supported by the wooden tray."}
+{"subtask_index": 629, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal hollow part, with fingers fully opening and separating from the part."}
+{"subtask_index": 630, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward and rightward from the area near the purple rod to approach the white hexagonal block on the table."}
+{"subtask_index": 631, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 632, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple rod."}
+{"subtask_index": 633, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod to complete the assembly."}
+{"subtask_index": 634, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white bottle with a purple top on the wooden rack, fingers opening to separate from the bottle."}
+{"subtask_index": 635, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table."}
+{"subtask_index": 636, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 637, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green perforated block on the black table without moving."}
+{"subtask_index": 638, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green perforated block off the table and transports it toward the rightmost white pillar with a purple top on the wooden base."}
+{"subtask_index": 639, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green perforated block with the rightmost white pillar and fits it downward onto the pillar to complete assembly."}
+{"subtask_index": 640, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the green perforated block by opening its fingers, fully separating from the block."}
+{"subtask_index": 641, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed in front of the wooden base."}
+{"subtask_index": 642, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}
+{"subtask_index": 643, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it towards the target purple pillar on the wooden base."}
+{"subtask_index": 644, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_press: Right hand aligns the green cube with the purple pillar and presses it down along the pillar until it reaches the base."}
+{"subtask_index": 645, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}
+{"subtask_index": 646, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form stable grip."}
+{"subtask_index": 647, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upwards until it is completely off the table surface."}
+{"subtask_index": 648, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block upwards and towards the target peg on the wooden base."}
+{"subtask_index": 649, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden base."}
+{"subtask_index": 650, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the peg."}
+{"subtask_index": 651, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases the block."}
+{"subtask_index": 652, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block located on the black table surface."}
+{"subtask_index": 653, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 654, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it towards the wooden rack with purple rods."}
+{"subtask_index": 655, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack."}
+{"subtask_index": 656, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats from the wooden rack after inserting the white hexagonal block."}
+{"subtask_index": 657, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table next to the wooden rack, adjusting fingers to form a stable grip."}
+{"subtask_index": 658, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden rack."}
+{"subtask_index": 659, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, places it onto the rod, then releases the block."}
+{"subtask_index": 660, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple post on the wooden base."}
+{"subtask_index": 661, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green ring on the table surface."}
+{"subtask_index": 662, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green ring on the table surface."}
+{"subtask_index": 663, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it toward the wooden base."}
+{"subtask_index": 664, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green ring onto the purple post on the wooden base."}
+{"subtask_index": 665, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table."}
+{"subtask_index": 666, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 667, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the wooden peg rack."}
+{"subtask_index": 668, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and fits it onto the peg."}
+{"subtask_index": 669, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block stacked on the wooden base."}
+{"subtask_index": 670, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table next to the wooden base."}
+{"subtask_index": 671, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}
+{"subtask_index": 672, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the light brown wooden base."}
+{"subtask_index": 673, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it downwards onto the rod."}
+{"subtask_index": 674, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block mounted on the purple rod."}
+{"subtask_index": 675, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block downwards along the purple rod to the bottom of the rod."}
+{"subtask_index": 676, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the dark tabletop."}
+{"subtask_index": 677, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the tabletop."}
+{"subtask_index": 678, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it towards the purple peg on the wooden rack."}
+{"subtask_index": 679, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple peg and fits it onto the peg to complete assembly."}
+{"subtask_index": 680, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}
+{"subtask_index": 681, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green square block on the table."}
+{"subtask_index": 682, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hollow square block from the table and transports it to above the white bottle with a purple protruding rod on the wooden base."}
+{"subtask_index": 683, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hollow square block with the purple rod of the white bottle and lowers the block to mate it onto the bottle."}
+{"subtask_index": 684, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green hollow square block that is fitted on the white bottle."}
+{"subtask_index": 685, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: idle: Right hand remains empty at the right side of the home position without obvious movement."}
+{"subtask_index": 686, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves leftward toward the green hexagonal block near the wooden base, with fingers held slightly open as it approaches the target."}
+{"subtask_index": 687, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making small positional adjustments of the wrist and fingers to establish a stable grip."}
+{"subtask_index": 688, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface, with no observable movement of the hand, fingers or the block."}
+{"subtask_index": 689, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand adjusts finger position and closes fingers to grasp the green hexagonal block resting on the table in front of the wooden assembly base."}
+{"subtask_index": 690, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface, moves it upward and toward the wooden base to position it directly above the leftmost purple rod."}
+{"subtask_index": 691, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the leftmost purple rod, sliding the block down the rod to fit it onto the assembly."}
+{"subtask_index": 692, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the assembled green hexagonal block on the purple rod."}
+{"subtask_index": 693, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward and forward from its position above the wooden peg board toward the white hexagonal nut on the black table surface, keeping fingers open during the approach."}
+{"subtask_index": 694, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to finger positions to establish a stable grip on the nut as it rests on the table."}
+{"subtask_index": 695, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, fully separating the nut from the table surface."}
+{"subtask_index": 696, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut back toward the wooden peg board, moving the nut to the position directly above the empty purple peg."}
+{"subtask_index": 697, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowers the nut to fit it securely onto the peg, and opens its fingers to release the nut now supported by the peg."}
+{"subtask_index": 698, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper assembly area toward the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 699, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor grip adjustments to secure the object while it remains on the table."}
+{"subtask_index": 700, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the secured white hexagonal nut fully off the table surface and transports it upward toward the empty purple peg on the wooden assembly base."}
+{"subtask_index": 701, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit onto the peg, establishing the assembled connection."}
+{"subtask_index": 702, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple peg without visible movement of the hand or the nut."}
+{"subtask_index": 703, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it to fit onto the purple peg on the wooden stand, and opens fingers to release the stably supported block."}
+{"subtask_index": 704, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut placed on the table in front of the wooden stand, approaching the target nut."}
+{"subtask_index": 705, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making fine adjustments to form a stable grip."}
+{"subtask_index": 706, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}
+{"subtask_index": 707, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: place_release: Right hand lowers the white hexagonal block downward to place it onto the empty purple peg, aligning the block's hole with the peg until the block rests stably on the peg, opening fingers to release the block."}
+{"subtask_index": 708, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: retreat: Right hand moves empty downward away from the placed white block on the purple peg."}
+{"subtask_index": 709, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the table surface near the front edge of the wooden base, approaching the block without yet establishing contact."}
+{"subtask_index": 710, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the green hexagonal block upward off the black table surface with a stable grip."}
+{"subtask_index": 711, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand transports the lifted green hexagonal block rightward toward the purple rod on the wooden base."}
+{"subtask_index": 712, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers it to fit onto the rod."}
+{"subtask_index": 713, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block fitted on the purple rod."}
+{"subtask_index": 714, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: idle: Right hand remains empty above the wooden block stack without observable movement."}
+{"subtask_index": 715, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward with empty fingers toward the white hexagonal nut placed on the dark table surface next to the green block."}
+{"subtask_index": 716, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact points to form a stable grasp."}
+{"subtask_index": 717, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}
+{"subtask_index": 718, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, then lowers the nut to fit it onto the rod and seat it on the stacked block below."}
+{"subtask_index": 719, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens fingers to release the seated white hexagonal nut, breaking contact with the nut on the rod."}
+{"subtask_index": 720, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand, kept empty, moves downward and rightward from the area above the stacked white and green blocks toward the small white hexagonal part near the right side of the wooden base, knocking over the purple vertical stick during movement, with fingers remaining open."}
+{"subtask_index": 721, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal part on the table to establish a grasp, with the wrist remaining nearly stationary."}
+{"subtask_index": 722, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward and leftward toward the empty slot on the wooden block holder."}
+{"subtask_index": 723, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden holder, makes slight rotational and positional adjustments, and inserts the block into the slot to fit securely with the base."}
+{"subtask_index": 724, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the fully inserted white hexagonal block from its grasp."}
+{"subtask_index": 725, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper right position next to the block stack, approaching the white hexagonal nut placed on the table surface."}
+{"subtask_index": 726, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table."}
+{"subtask_index": 727, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}
+{"subtask_index": 728, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air, moving it to the position directly above the purple cylindrical post on the block stack."}
+{"subtask_index": 729, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple cylindrical post, then moves the nut downward to fit it onto the post."}
+{"subtask_index": 730, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut as the nut slides down the purple post."}
+{"subtask_index": 731, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: idle: Right hand remains empty next to the top of the purple post without obvious large displacement."}
+{"subtask_index": 732, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: reach: Right hand moves downward and rightward toward the small green cube on the table with open fingers, making no contact with the cube."}
+{"subtask_index": 733, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the small green cube resting on the table to form a stable grasp."}
+{"subtask_index": 734, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is completely lifted off the table surface."}
+{"subtask_index": 735, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: transport: Right hand carries the green cube upward and leftward to the position directly above the purple post on the stacked block assembly."}
+{"subtask_index": 736, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: mate: Right hand adjusts the orientation and position of the green cube to align its central hole with the purple post, fitting the cube onto the post."}
+{"subtask_index": 737, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green cube secured on the purple post, separating the hand from the cube."}
+{"subtask_index": 738, "subtask": "Left hand: other:adjust_hand_pose: Left hand raises slightly and extends its fingers, moving toward the center of the table while remaining empty. | Right hand: reach: Right hand moves from the right side of the table toward the green cubic block below the wooden rack, with fingers slightly open."}
+{"subtask_index": 739, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green cubic block below the wooden rack, with fingers slightly open."}
+{"subtask_index": 740, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table, with slight grip adjustment."}
+{"subtask_index": 741, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}
+{"subtask_index": 742, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table to the left of the wooden peg base."}
+{"subtask_index": 743, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to the position above the leftmost purple peg of the wooden base."}
+{"subtask_index": 744, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base by lowering it along the peg."}
+{"subtask_index": 745, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers and separating from the block."}
+{"subtask_index": 746, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg base without moving."}
+{"subtask_index": 747, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal piece on the black table surface."}
+{"subtask_index": 748, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward to the area above the purple pegs on the wooden rack."}
+{"subtask_index": 749, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal piece with the purple peg and inserts the piece onto the peg to form an assembly."}
+{"subtask_index": 750, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece downward along the purple peg to press it firmly into place."}
+{"subtask_index": 751, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}
+{"subtask_index": 752, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening upward."}
+{"subtask_index": 753, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 754, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}
+{"subtask_index": 755, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}
+{"subtask_index": 756, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward and rightward toward the rack peg."}
+{"subtask_index": 757, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the rack peg by sliding it downward along the peg."}
+{"subtask_index": 758, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the rack peg without moving."}
+{"subtask_index": 759, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table near the wooden peg base, with no contact yet."}
+{"subtask_index": 760, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, fingers close and adjust to form a stable grasp."}
+{"subtask_index": 761, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is completely lifted off the table surface."}
+{"subtask_index": 762, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward and toward the rightmost purple peg on the wooden base, arriving above the peg."}
+{"subtask_index": 763, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it onto the peg to complete fitting."}
+{"subtask_index": 764, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement."}
+{"subtask_index": 765, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block on the purple peg, until the hand is fully separated from the block."}
+{"subtask_index": 766, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block placed on the black table."}
+{"subtask_index": 767, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 768, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table without moving."}
+{"subtask_index": 769, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form a stable grip."}
+{"subtask_index": 770, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the purple peg on the wooden base."}
+{"subtask_index": 771, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base, aligning the central hole and lowering the block down to fit."}
+{"subtask_index": 772, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple peg, opening fingers to separate from the block."}
+{"subtask_index": 773, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal perforated piece on the table surface, staying empty."}
+{"subtask_index": 774, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal perforated piece on the table surface, with fingers closing around the piece."}
+{"subtask_index": 775, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal perforated piece from the table surface and moves it upward and leftward toward the wooden peg board."}
+{"subtask_index": 776, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal perforated piece with the purple peg on the wooden board and lowers it onto the peg."}
+{"subtask_index": 777, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal perforated piece on the purple peg of the wooden board without moving."}
+{"subtask_index": 778, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring block onto the purple vertical rod of the wooden base and releases its grip."}
+{"subtask_index": 779, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table beside the wooden base."}
+{"subtask_index": 780, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}
+{"subtask_index": 781, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden base."}
+{"subtask_index": 782, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}
+{"subtask_index": 783, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden rack, with fingers opening to separate from the block."}
+{"subtask_index": 784, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}
+{"subtask_index": 785, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}
+{"subtask_index": 786, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}
+{"subtask_index": 787, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward from the right side of the table toward the wooden block tray."}
+{"subtask_index": 788, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray, aligning the block's hole with the rod and moving downward to complete the fitting."}
+{"subtask_index": 789, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}
+{"subtask_index": 790, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps and adjusts the white cylinder with green section on the wooden rack, then releases it."}
+{"subtask_index": 791, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}
+{"subtask_index": 792, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts the green cubic block on the dark table surface."}
+{"subtask_index": 793, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}
+{"subtask_index": 794, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the right table surface, with fingers closing and adjusting to form a stable grip while the block stays on the table."}
+{"subtask_index": 795, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the rightmost peg of the cylinder board."}
+{"subtask_index": 796, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost peg on the board and moves it downward to fit the block onto the peg."}
+{"subtask_index": 797, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the black tabletop."}
+{"subtask_index": 798, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black tabletop."}
+{"subtask_index": 799, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to above the purple peg on the wooden base."}
+{"subtask_index": 800, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand aligns the green block with the purple peg, inserts it down onto the peg, then releases the block."}
+{"subtask_index": 801, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base."}
+{"subtask_index": 802, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black tabletop."}
+{"subtask_index": 803, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}
+{"subtask_index": 804, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it upward toward the wooden base."}
+{"subtask_index": 805, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}
+{"subtask_index": 806, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 807, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 808, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left purple rod of the wooden base."}
+{"subtask_index": 809, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple rod by aligning the central hole with the rod and pushing the block downwards."}
+{"subtask_index": 810, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers."}
+{"subtask_index": 811, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats upwards away from the assembled block on the purple rod."}
+{"subtask_index": 812, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white ring onto the purple peg on the wooden base."}
+{"subtask_index": 813, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white ring on the black table in front of the wooden base."}
+{"subtask_index": 814, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the black table with fingers closing."}
+{"subtask_index": 815, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the black tabletop and transports it above the purple rod on the wooden base."}
+{"subtask_index": 816, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand inserts the white ring onto the purple rod to complete the assembly."}
+{"subtask_index": 817, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white ring placed on the purple rod."}
+{"subtask_index": 818, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden peg base toward the green block on the table."}
+{"subtask_index": 819, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}
+{"subtask_index": 820, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block off the table surface."}
+{"subtask_index": 821, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the peg on the wooden base."}
+{"subtask_index": 822, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand lowers the green block onto the peg of the wooden base to complete assembly."}
+{"subtask_index": 823, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg on the wooden base."}
+{"subtask_index": 824, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats from the wooden base area towards the table surface."}
+{"subtask_index": 825, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}
+{"subtask_index": 826, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches and starts to grasp the white hexagonal block on the table."}
+{"subtask_index": 827, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple rod on the wooden tray."}
+{"subtask_index": 828, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, inserts it onto the rod and presses it down to complete the assembly."}
+{"subtask_index": 829, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}
+{"subtask_index": 830, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden base."}
+{"subtask_index": 831, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 832, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 833, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 834, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 835, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}
+{"subtask_index": 836, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}
+{"subtask_index": 837, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table."}
+{"subtask_index": 838, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green cubic block up away from the table surface."}
+{"subtask_index": 839, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green cubic block towards the front-right white column on the wooden base."}
+{"subtask_index": 840, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green cubic block with the top of the front-right white column and fits it onto the column."}
+{"subtask_index": 841, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens its fingers to release the green cubic block and moves away from the block."}
+{"subtask_index": 842, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty on the right side of the table without obvious displacement or rotation."}
+{"subtask_index": 843, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the green hexagonal block near the wooden base on the table, remaining empty as it approaches the target."}
+{"subtask_index": 844, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the green hexagonal block near the wooden base, with fingers closing and adjusting position to establish a stable grip on the block."}
+{"subtask_index": 845, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}
+{"subtask_index": 846, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}
+{"subtask_index": 847, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is fully seated on the purple peg."}
+{"subtask_index": 848, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the table, with fingers held open."}
+{"subtask_index": 849, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to form a stable grip on the nut."}
+{"subtask_index": 850, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}
+{"subtask_index": 851, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple peg on the wooden pegboard."}
+{"subtask_index": 852, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut to fit securely onto the peg."}
+{"subtask_index": 853, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut after the nut is fitted onto the purple peg."}
+{"subtask_index": 854, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves down empty from the wooden block rack area toward the front white hexagonal nut placed on the table surface."}
+{"subtask_index": 855, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table."}
+{"subtask_index": 856, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward toward the empty purple peg on the wooden block rack."}
+{"subtask_index": 857, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the held white hexagonal nut with the empty purple peg on the wooden rack and fits the nut down onto the peg to complete the assembly."}
+{"subtask_index": 858, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut seated on the purple peg, breaking contact with the nut."}
+{"subtask_index": 859, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut placed on the table in front of the wooden stacking base."}
+{"subtask_index": 860, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to establish a stable grasp."}
+{"subtask_index": 861, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table support surface."}
+{"subtask_index": 862, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and backward to the position directly above the right purple post on the stacking base."}
+{"subtask_index": 863, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal nut to align its central hole with the purple post below."}
+{"subtask_index": 864, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple post for support, opening fingers to release the grasped nut."}
+{"subtask_index": 865, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed on the black table surface, with fingers held slightly open."}
+{"subtask_index": 866, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to form a stable grip."}
+{"subtask_index": 867, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden base."}
+{"subtask_index": 868, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}
+{"subtask_index": 869, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal nut fitted on the purple peg without visible movement of the hand or the nut."}
+{"subtask_index": 870, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the front white hexagonal nut placed on the black table surface."}
+{"subtask_index": 871, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand makes contact with the front white hexagonal nut, adjusting finger positions to attempt closing around the nut."}
+{"subtask_index": 872, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: push: Right hand pushes the toppled white hexagonal nut across the table surface toward the near side of the workspace."}
+{"subtask_index": 873, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts finger positions around the toppled white hexagonal nut to establish a stable grip on the nut."}
+{"subtask_index": 874, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reorient: Right hand rotates the gripped white hexagonal nut about a horizontal axis to flip it from a lying position back to an upright orientation, with minimal position change."}
+{"subtask_index": 875, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the upright white hexagonal nut to rest on the table surface, then opens fingers to release grip on the nut."}
+{"subtask_index": 876, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty next to the placed white hexagonal nut without observable movement."}
+{"subtask_index": 877, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves upward and toward the other white hexagonal nut positioned near the right side of the wooden assembly base."}
+{"subtask_index": 878, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the inner white hexagonal nut near the wooden base, adjusting finger positions to attempt closing around the nut."}
+{"subtask_index": 879, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release contact with the inner white hexagonal nut, then moves slightly backward away from the nut."}
+{"subtask_index": 880, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach_grasp: Right hand moves a short distance back toward the inner white hexagonal nut, then adjusts finger positions to form a stable grasp around the nut."}
+{"subtask_index": 881, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal cylinder to the right of the wooden block base without noticeable movement."}
+{"subtask_index": 882, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder upward off the table surface and transports it to the position directly above the purple vertical rod on the block set."}
+{"subtask_index": 883, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple vertical rod, slides the cylinder down along the rod to rest on the green block below to form the assembly."}
+{"subtask_index": 884, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the assembled white hexagonal cylinder on the purple rod without noticeable movement."}
+{"subtask_index": 885, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward toward the small white hexagonal block on the table adjacent to the wooden block base."}
+{"subtask_index": 886, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts finger positions to close around the small white hexagonal block on the table to establish a grip."}
+{"subtask_index": 887, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward to separate it from the black table surface."}
+{"subtask_index": 888, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the white hexagonal nut, moving it upward and leftward to the area above the purple rod on the wooden block base."}
+{"subtask_index": 889, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate_place: Right hand aligns the white hexagonal nut with the purple rod on the wooden base via fine positional adjustments, and places the nut onto the wooden base to be supported by the surface."}
+{"subtask_index": 890, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden rack, releasing the block as the block rests stably on the rod."}
+{"subtask_index": 891, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward across the table surface, approaching the white hexagonal nut positioned next to the green square block."}
+{"subtask_index": 892, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a stable grasp on the nut."}
+{"subtask_index": 893, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal block resting on the table near the green block without moving."}
+{"subtask_index": 894, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves it upward and leftward toward the empty slot on the wooden peg rack."}
+{"subtask_index": 895, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal block into the empty slot on the wooden rack until the block is supported by the rack, fingers opening to release the block."}
+{"subtask_index": 896, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed white hexagonal block."}
+{"subtask_index": 897, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward from the block rack area toward the green cubic block on the black table surface, with fingers held slightly open."}
+{"subtask_index": 898, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: grasp_release: Right hand closes fingers around the green cubic block on the table, opening fingers to release contact with the block as it lifts slightly away from the surface."}
+{"subtask_index": 899, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty and stationary in the air above the green cubic block on the table."}
+{"subtask_index": 900, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: reach_grasp: Right hand moves downward toward the green cubic block on the table, closing fingers to contact the block surface upon arrival."}
+{"subtask_index": 901, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hollow block resting on the dark table surface without moving."}
+{"subtask_index": 902, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand moves upward to lift the green hollow block completely off the dark table surface."}
+{"subtask_index": 903, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand carries the lifted green block toward the empty slot on the wooden block holding tray."}
+{"subtask_index": 904, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious displacement or rotation. | Right hand: mate_release: Right hand adjusts the position and orientation of the green block, aligns its central hole with the target white post on the tray, slides the block down the post to complete mating, and opens fingers to release the block."}
+{"subtask_index": 905, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the wooden rack."}
+{"subtask_index": 906, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 907, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table surface and transports it to above the leftmost front purple peg."}
+{"subtask_index": 908, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_press: Right hand mates the green cubic block onto the leftmost front purple peg and presses it downward along the peg to the bottom position."}
+{"subtask_index": 909, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening and separating from the block."}
+{"subtask_index": 910, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches upward toward the white hexagonal block on top of the green cubic block with fingers slightly open."}
+{"subtask_index": 911, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of the green cubic block with fingers closing around it."}
+{"subtask_index": 912, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the middle purple peg of the wooden base and releases it."}
+{"subtask_index": 913, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}
+{"subtask_index": 914, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing and adjusting for stable grip."}
+{"subtask_index": 915, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal object from the black table upward and rightward to the position above the front-left purple peg of the wooden board."}
+{"subtask_index": 916, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the front-left purple peg of the wooden board, lowering it to fit over the peg until it rests on the green base."}
+{"subtask_index": 917, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple peg by opening its fingers."}
+{"subtask_index": 918, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats downward and rightward away from the wooden board with empty hand."}
+{"subtask_index": 919, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal piece on the black table."}
+{"subtask_index": 920, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to establish a stable grip."}
+{"subtask_index": 921, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward to the position above the wooden base's peg."}
+{"subtask_index": 922, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the peg of the wooden base, lowering it along the peg to fit into position."}
+{"subtask_index": 923, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the wooden base's peg without moving."}
+{"subtask_index": 924, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases it."}
+{"subtask_index": 925, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}
+{"subtask_index": 926, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}
+{"subtask_index": 927, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it toward the wooden peg rack."}
+{"subtask_index": 928, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple peg of the wooden rack, aligning and lowering it into place."}
+{"subtask_index": 929, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the rightmost purple peg of the wooden rack without moving."}
+{"subtask_index": 930, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the rightmost purple peg by opening its fingers."}
+{"subtask_index": 931, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the left side of the black table surface, empty-handed."}
+{"subtask_index": 932, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}
+{"subtask_index": 933, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward toward the front-right purple peg of the pegboard."}
+{"subtask_index": 934, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-right purple peg of the pegboard by aligning the hole and lowering the block."}
+{"subtask_index": 935, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-right purple peg of the pegboard without moving."}
+{"subtask_index": 936, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand starts to release the green hexagonal block on the front-right purple peg, with fingers slightly opening."}
+{"subtask_index": 937, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green ring down along the peg on the wooden board."}
+{"subtask_index": 938, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}
+{"subtask_index": 939, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green supporting block on the right side of the table."}
+{"subtask_index": 940, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple peg on the wooden base."}
+{"subtask_index": 941, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by inserting it downward onto the peg until it touches the green base at the bottom."}
+{"subtask_index": 942, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}
+{"subtask_index": 943, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and fully separating from the block."}
+{"subtask_index": 944, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden peg base toward the upper white hexagonal block on the black table surface."}
+{"subtask_index": 945, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}
+{"subtask_index": 946, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the top of the purple rod on the wooden base."}
+{"subtask_index": 947, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and presses it down onto the rod, making continuous fine adjustments to the block's position."}
+{"subtask_index": 948, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}
+{"subtask_index": 949, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves slightly toward the white hexagonal block on the purple rod again."}
+{"subtask_index": 950, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: other:adjust_block_height_on_rod: Right hand grasps the white hexagonal block on the purple rod and adjusts its height along the rod."}
+{"subtask_index": 951, "subtask": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, not yet touching the block."}
+{"subtask_index": 952, "subtask": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: release_retreat: Right hand releases the white hexagonal block and moves downward away from the purple rod."}
+{"subtask_index": 953, "subtask": "Left hand: reach: Left hand moves rightward and upward toward the wooden board with stacked cylinders at the center of the table, keeping fingers extended. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, adjusting the grip to stabilize the block."}
+{"subtask_index": 954, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, adjusting the grip to stabilize the block."}
+{"subtask_index": 955, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}
+{"subtask_index": 956, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward and leftward to the position above the purple vertical rod."}
+{"subtask_index": 957, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and moves it downward to fit the block onto the rod until the block is supported by the white cylinder below."}
+{"subtask_index": 958, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}
+{"subtask_index": 959, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the right side of the white block assembly toward the green cube on the black table surface."}
+{"subtask_index": 960, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing around the cube to form a stable grip."}
+{"subtask_index": 961, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward to the position above the purple peg on the white block assembly."}
+{"subtask_index": 962, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green cube with the purple peg on the white block assembly and fits the cube onto the peg."}
+{"subtask_index": 963, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube, with fingers opening and separating from the cube."}
+{"subtask_index": 964, "subtask": "Left hand: other:adjust_hand_posture: Left hand adjusts its hand and finger posture slightly at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block on the leftmost purple rod of the wooden base."}
+{"subtask_index": 965, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the leftmost purple rod of the wooden base."}
+{"subtask_index": 966, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the leftmost purple rod."}
+{"subtask_index": 967, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the leftmost purple rod of the wooden base."}
+{"subtask_index": 968, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the black table surface near the green block."}
+{"subtask_index": 969, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block placed on the black table top."}
+{"subtask_index": 970, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 971, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and inserts it partially onto the rod."}
+{"subtask_index": 972, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod until it reaches the bottom of the rod."}
+{"subtask_index": 973, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 974, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 975, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 976, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base, adjusting position to fit properly."}
+{"subtask_index": 977, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 978, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 979, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 980, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple rod on the wooden base."}
+{"subtask_index": 981, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 982, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the target position."}
+{"subtask_index": 983, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple peg of the wooden base and releases its grip on the block."}
+{"subtask_index": 984, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}
+{"subtask_index": 985, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring to the position above the purple rod on the wooden base."}
+{"subtask_index": 986, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple rod on the wooden base and then releases the ring from its grasp."}
+{"subtask_index": 987, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position above the wooden base toward the green hexagonal block on the black tabletop."}
+{"subtask_index": 988, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop, adjusting to form a stable grip."}
+{"subtask_index": 989, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 990, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod on the wooden base and fits it onto the rod."}
+{"subtask_index": 991, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base."}
+{"subtask_index": 992, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}
+{"subtask_index": 993, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 994, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it downward."}
+{"subtask_index": 995, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple vertical rod on the wooden base and releases the grip on the block."}
+{"subtask_index": 996, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the table surface."}
+{"subtask_index": 997, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}
+{"subtask_index": 998, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block away from the black tabletop."}
+{"subtask_index": 999, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white hexagonal block horizontally to the position above the purple rod on the wooden base."}
+{"subtask_index": 1000, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal block and fits it onto the purple rod."}
+{"subtask_index": 1001, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}
+{"subtask_index": 1002, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block up and moves it toward the purple rod on the wooden base."}
+{"subtask_index": 1003, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}
+{"subtask_index": 1004, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block with purple top onto the wooden base."}
+{"subtask_index": 1005, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the dark table surface."}
+{"subtask_index": 1006, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the dark table surface."}
+{"subtask_index": 1007, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}
+{"subtask_index": 1008, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block towards the white bottle on the wooden tray."}
+{"subtask_index": 1009, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the top of the target white bottle."}
+{"subtask_index": 1010, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block after it is fitted onto the white bottle."}
+{"subtask_index": 1011, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand with open fingers moves from its initial upper-right position toward the green hexagonal block placed on the front-left area of the table surface, approaching the target without establishing contact."}
+{"subtask_index": 1012, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, fingers close and perform minor adjustments to form a stable grip on the block which remains on the table surface."}
+{"subtask_index": 1013, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward toward the purple rods on the wooden assembly base."}
+{"subtask_index": 1014, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod, and adjusts the block's position to fit it onto the rod."}
+{"subtask_index": 1015, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach_grasp: Right hand moves downward to approach the white hexagonal nut on the table in front of the wooden base, making contact with the nut and adjusting finger positions to close around it for a stable grasp."}
+{"subtask_index": 1016, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without any visible movement."}
+{"subtask_index": 1017, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to a position directly above the purple peg on the wooden assembly rack."}
+{"subtask_index": 1018, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: hold: Right hand holds the white hexagonal nut directly above the purple peg on the wooden assembly rack without visible movement."}
+{"subtask_index": 1019, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the purple peg and fits the nut onto the top portion of the peg."}
+{"subtask_index": 1020, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place_release: Right hand slides the white hexagonal nut downward along the purple peg until it rests stably on the green base block, with fingers opening to release contact with the nut."}
+{"subtask_index": 1021, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from above the wooden assembly base toward the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 1022, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact points to establish a stable grip."}
+{"subtask_index": 1023, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the empty purple peg on the wooden base."}
+{"subtask_index": 1024, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the held white hexagonal nut with the empty purple peg, lowering the nut to fit onto the peg until it is fully supported by the wooden base."}
+{"subtask_index": 1025, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens fingers gradually to release the fitted white hexagonal nut, breaking the grip on the nut."}
+{"subtask_index": 1026, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: idle: Right hand remains empty above the assembled white nut without any visible movement."}
+{"subtask_index": 1027, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens fingers to release the previously held white hexagonal nut from the upper position on the wooden pegboard, allowing the nut to rest on the peg."}
+{"subtask_index": 1028, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the black table surface directly in front of the wooden pegboard."}
+{"subtask_index": 1029, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table to establish a stable grasp."}
+{"subtask_index": 1030, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position it directly above the empty purple peg on the pegboard."}
+{"subtask_index": 1031, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, moves the nut downward to fit it onto the peg until it seats at the lower position on the peg."}
+{"subtask_index": 1032, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple vertical post on the wooden base, inserts it fully onto the post and opens fingers to release the block."}
+{"subtask_index": 1033, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward through empty space toward the green hexagonal block on the black table surface."}
+{"subtask_index": 1034, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to form a grip."}
+{"subtask_index": 1035, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the area above the purple post on the wooden block base."}
+{"subtask_index": 1036, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place: Right hand aligns the green hexagonal block with the purple post, moves downward to place the block onto the wooden base, fitting the block over the post until it rests stably on the base surface."}
+{"subtask_index": 1037, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from the area in front of the wooden pegboard toward the green hexagonal block on the black table surface, staying empty before making contact with the target."}
+{"subtask_index": 1038, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand contacts the green hexagonal block on the black table surface, closing fingers and adjusting finger contact positions to form a stable grip on the block."}
+{"subtask_index": 1039, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}
+{"subtask_index": 1040, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward toward the purple peg on the wooden block base."}
+{"subtask_index": 1041, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg on the wooden base, adjusting position slightly to fit the nut onto the peg."}
+{"subtask_index": 1042, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place: Right hand lowers the white hexagonal nut along the purple peg until it rests stably on the supporting green block below."}
+{"subtask_index": 1043, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the white hexagonal nut beside the wooden base, keeping fingers open while approaching the target nut."}
+{"subtask_index": 1044, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the table, adjusting finger positions to form a stable grip on the nut."}
+{"subtask_index": 1045, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the dark table surface."}
+{"subtask_index": 1046, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and horizontally toward the purple vertical rod mounted on the wooden base."}
+{"subtask_index": 1047, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut to fit it onto the rod until it rests stably on the stacked nuts below."}
+{"subtask_index": 1048, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, moving fingers away from the placed nut."}
+{"subtask_index": 1049, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward from its initial upper position toward the white hexagonal nut on the black table surface, approaching the target without establishing contact."}
+{"subtask_index": 1050, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the table, forming a stable grasp while the nut stays on the supporting surface."}
+{"subtask_index": 1051, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and leftward to the position directly above the purple rod on the wooden tray."}
+{"subtask_index": 1052, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut to align its central hole with the purple rod, fitting the nut onto the top end of the rod."}
+{"subtask_index": 1053, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple rod until it rests stably on the lower white block, opening fingers to fully release the nut."}
+{"subtask_index": 1054, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: reach: Right hand moves downward toward the small green block on the black table surface from its initial position near the set of white bottles."}
+{"subtask_index": 1055, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: grasp: Right hand closes its fingers around the small green block on the table to form a stable grasp."}
+{"subtask_index": 1056, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface and moves it to the position directly above the purple-capped white bottle on the tray."}
+{"subtask_index": 1057, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple-capped bottle and fits the block onto the bottle cap."}
+{"subtask_index": 1058, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table, without contacting any operating objects or making obvious intentional movements. | Right hand: release: Right hand opens its fingers to release the green block fitted on the bottle cap, separating the hand from the block."}
+{"subtask_index": 1059, "subtask": "Left hand: other:finger_extend: Left hand extends its fingers slightly at the left side of the table, remaining empty with no overall hand displacement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface, staying empty."}
+{"subtask_index": 1060, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface, staying empty."}
+{"subtask_index": 1061, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1062, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without moving."}
+{"subtask_index": 1063, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the dark table surface, adjusting fingers to form a stable grip."}
+{"subtask_index": 1064, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the leftmost purple peg on the wooden rack."}
+{"subtask_index": 1065, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack, sliding it downward along the peg."}
+{"subtask_index": 1066, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table."}
+{"subtask_index": 1067, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to fit the block."}
+{"subtask_index": 1068, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the purple post rack."}
+{"subtask_index": 1069, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the rightmost purple post on the rack and fits it onto the post."}
+{"subtask_index": 1070, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the rightmost purple post without moving."}
+{"subtask_index": 1071, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical component down to fit it fully onto the purple peg of the wooden base."}
+{"subtask_index": 1072, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal part at the lower area of the table."}
+{"subtask_index": 1073, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the lower-left area of the table surface."}
+{"subtask_index": 1074, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it upward and rightward to the area above the purple pegs on the wooden base."}
+{"subtask_index": 1075, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with a purple peg by aligning its hole and lowering it onto the peg."}
+{"subtask_index": 1076, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}
+{"subtask_index": 1077, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple peg, with fingers gradually opening."}
+{"subtask_index": 1078, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table above the green cubic block."}
+{"subtask_index": 1079, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 1080, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical piece from the black table and transports it to the top of the rightmost purple peg."}
+{"subtask_index": 1081, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical piece with the rightmost purple peg and inserts it onto the peg."}
+{"subtask_index": 1082, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylindrical piece along the purple peg until it rests on the wooden base."}
+{"subtask_index": 1083, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical piece on the rightmost purple peg without moving."}
+{"subtask_index": 1084, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece by opening its fingers."}
+{"subtask_index": 1085, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the white cylindrical piece without moving."}
+{"subtask_index": 1086, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 1087, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing to form a stable grip."}
+{"subtask_index": 1088, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the position above the rightmost purple peg of the wooden base."}
+{"subtask_index": 1089, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the rightmost purple peg by aligning the block's hole with the peg and lowering it down."}
+{"subtask_index": 1090, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the wooden peg of the building set, with fingers opening to break contact."}
+{"subtask_index": 1091, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with fingers slightly open."}
+{"subtask_index": 1092, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1093, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and moves it towards the purple peg on the wooden base."}
+{"subtask_index": 1094, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and lowers it onto the peg to complete the fitting."}
+{"subtask_index": 1095, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the purple peg on the wooden base toward the white hexagonal piece on the table, approaching the target."}
+{"subtask_index": 1096, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table, adjusting the grip to stabilize the object."}
+{"subtask_index": 1097, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it upward and leftward toward the purple peg on the wooden base."}
+{"subtask_index": 1098, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal piece onto the purple peg on the wooden base, then releases the grip to separate from the piece."}
+{"subtask_index": 1099, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 1100, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple peg on the wooden rack."}
+{"subtask_index": 1101, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden rack by lowering and aligning the block."}
+{"subtask_index": 1102, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the block set toward the green square block on the dark table surface."}
+{"subtask_index": 1103, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}
+{"subtask_index": 1104, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it upward and leftward toward the rightmost peg on the wooden block base."}
+{"subtask_index": 1105, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white peg and fits the block down onto the peg."}
+{"subtask_index": 1106, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block by opening its fingers and moving slightly away from the block."}
+{"subtask_index": 1107, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden base."}
+{"subtask_index": 1108, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand adjusts finger posture and contacts the green hexagonal block to form a grasp."}
+{"subtask_index": 1109, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the purple peg on the wooden base."}
+{"subtask_index": 1110, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}
+{"subtask_index": 1111, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: press: Right hand presses the green block down along the purple peg to fix it in place."}
+{"subtask_index": 1112, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release_retreat: Right hand releases the green block and retreats from the wooden base."}
+{"subtask_index": 1113, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table."}
+{"subtask_index": 1114, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the white hexagonal object on the black tabletop, adjusting fingers to form a stable grip."}
+{"subtask_index": 1115, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the tabletop and transports it to above the target purple peg on the wooden rack."}
+{"subtask_index": 1116, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand mates the white hexagonal object with the purple peg by inserting it down onto the peg."}
+{"subtask_index": 1117, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black tabletop."}
+{"subtask_index": 1118, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the tabletop."}
+{"subtask_index": 1119, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand opens fingers to release the white hexagonal block onto the tabletop."}
+{"subtask_index": 1120, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves to approach the white hexagonal block on the tabletop again."}
+{"subtask_index": 1121, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand adjusts finger position to prepare for grasping the white hexagonal block on the tabletop."}
+{"subtask_index": 1122, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple peg on the wooden base."}
+{"subtask_index": 1123, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place_mate: Right hand places the white hexagonal block onto the purple peg and mates it by pushing down to fit securely on the peg."}
+{"subtask_index": 1124, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the white hexagonal block onto the peg on the wooden base."}
+{"subtask_index": 1125, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 1126, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}
+{"subtask_index": 1127, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple rod on the wooden base."}
+{"subtask_index": 1128, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 1129, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}
+{"subtask_index": 1130, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: retreat: Right hand retreats from the wooden base area towards the green hexagonal block on the table."}
+{"subtask_index": 1131, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand reaches towards the green hexagonal block on the black table."}
+{"subtask_index": 1132, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach_grasp: Right hand reaches toward the green block on the black table, then grasps it with fingers closing around the block."}
+{"subtask_index": 1133, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the green block off the table, then transports it toward the white peg on the wooden base."}
+{"subtask_index": 1134, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the green block onto the white peg on the wooden base until the block is supported by the peg."}
+{"subtask_index": 1135, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: press: Right hand presses the green block down along the white peg to secure it in place."}
+{"subtask_index": 1136, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the green block on the white peg, with fingers opening and separating from the block."}
+{"subtask_index": 1137, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the green hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 1138, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the black tabletop."}
+{"subtask_index": 1139, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 1140, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden tray."}
+{"subtask_index": 1141, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod on the wooden tray."}
+{"subtask_index": 1142, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand gradually releases the white hexagonal block after it is assembled on the purple rod."}
+{"subtask_index": 1143, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp_release: Right hand grasps and releases the white cylindrical block on the wooden base."}
+{"subtask_index": 1144, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves down towards the white hollow hexagonal block on the black table."}
+{"subtask_index": 1145, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table."}
+{"subtask_index": 1146, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 1147, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod."}
+{"subtask_index": 1148, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the white hexagonal block and retreats slightly from the block."}
+{"subtask_index": 1149, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand reaches towards the white hexagonal block on the purple rod."}
+{"subtask_index": 1150, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it in place."}
+{"subtask_index": 1151, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves towards the white hexagonal block on the table without touching it."}
+{"subtask_index": 1152, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}
+{"subtask_index": 1153, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden board."}
+{"subtask_index": 1154, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}
+{"subtask_index": 1155, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}
+{"subtask_index": 1156, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: reach: Right hand moves toward the green hollow block on the black tabletop."}
+{"subtask_index": 1157, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: grasp: Right hand grasps the green hollow block on the black tabletop with fingers closing."}
+{"subtask_index": 1158, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: lift_transport: Right hand lifts the green hollow block from the tabletop and transports it above the white block with purple top on the wooden tray."}
+{"subtask_index": 1159, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: place_mate: Right hand places the green hollow block onto the purple top of the white block and mates it into correct position."}
+{"subtask_index": 1160, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black operating table. | Right hand: release: Right hand releases the green hollow block fitted on the white block."}
+{"subtask_index": 1161, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty from the right initial position toward the green hexagonal block adjacent to the wooden peg base."}
+{"subtask_index": 1162, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to establish a grip."}
+{"subtask_index": 1163, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves the block upward to position it directly above the purple peg on the wooden stand."}
+{"subtask_index": 1164, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden stand, lowering the block to fit it onto the peg."}
+{"subtask_index": 1165, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg with no observable movement of the hand or block."}
+{"subtask_index": 1166, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut on the table, approaching the nut without making contact."}
+{"subtask_index": 1167, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers close and adjust positions to establish a grasp on the nut."}
+{"subtask_index": 1168, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden base."}
+{"subtask_index": 1169, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves it downward to fit onto the rod until it rests on the green base."}
+{"subtask_index": 1170, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut that is fitted on the purple rod."}
+{"subtask_index": 1171, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand, empty, moves downward and forward from the wooden assembly block area toward the front white hexagonal nut placed on the black table surface."}
+{"subtask_index": 1172, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal nut on the table, making small wrist and finger adjustments to form a grip on the nut."}
+{"subtask_index": 1173, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position above the purple post on the wooden assembly base."}
+{"subtask_index": 1174, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple post and fits the nut down onto the post."}
+{"subtask_index": 1175, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without noticeable movement or adjustment."}
+{"subtask_index": 1176, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the top of the stacked blocks toward the white hexagonal block placed near the wooden base, with fingers held slightly open."}
+{"subtask_index": 1177, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}
+{"subtask_index": 1178, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}
+{"subtask_index": 1179, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the empty purple peg, and lowers the block to fit securely onto the peg."}
+{"subtask_index": 1180, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple peg, and shifts slightly away from the block."}
+{"subtask_index": 1181, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from above the wooden pegboard toward the green hexagonal block on the table, with fingers kept open."}
+{"subtask_index": 1182, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to form a stable grip, with the block remaining on the table surface."}
+{"subtask_index": 1183, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the stably gripped green hexagonal block upward until the block is fully separated from the table surface."}
+{"subtask_index": 1184, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and leftward to the position directly above the purple peg on the wooden pegboard."}
+{"subtask_index": 1185, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the pegboard, lowering the block with small positional adjustments to fit it onto the peg."}
+{"subtask_index": 1186, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: place: Right hand places the white hexagonal block down onto the purple vertical rod on the wooden assembly base, until the block is stably supported by the block below."}
+{"subtask_index": 1187, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and away from the assembly base toward the white hexagonal block resting on the black table surface near the green block."}
+{"subtask_index": 1188, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and making small positional adjustments to form a stable grip on the block."}
+{"subtask_index": 1189, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}
+{"subtask_index": 1190, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is fully lifted off the dark table surface."}
+{"subtask_index": 1191, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block toward the purple rod on the wooden block assembly base."}
+{"subtask_index": 1192, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and moves the block downward with slight positional adjustments to fit it onto the rod."}
+{"subtask_index": 1193, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward with empty hand to approach the white hexagonal nut placed on the black table to the right of the wooden block base."}
+{"subtask_index": 1194, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers to wrap around the white hexagonal nut on the table, making small finger adjustments to form a stable grip on the nut."}
+{"subtask_index": 1195, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}
+{"subtask_index": 1196, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward to position the nut directly above the purple vertical rod on the wooden base."}
+{"subtask_index": 1197, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, and lowers the nut to fit it onto the rod until it rests on the stacked components below."}
+{"subtask_index": 1198, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the nut."}
+{"subtask_index": 1199, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table, with fingers held in an extended position."}
+{"subtask_index": 1200, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp, with the block still resting on the table surface."}
+{"subtask_index": 1201, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}
+{"subtask_index": 1202, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block upward and leftward toward the purple vertical rod mounted on the wooden block base."}
+{"subtask_index": 1203, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, then fits the block onto the rod to establish the assembly connection."}
+{"subtask_index": 1204, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves the white hexagonal block downward along the purple vertical rod until the block rests stably on the underlying white block, fully supported by the base assembly."}
+{"subtask_index": 1205, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the purple top on the white cylinder of the block assembly vertically downward."}
+{"subtask_index": 1206, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty from the block assembly area toward the small green cube resting on the black table surface."}
+{"subtask_index": 1207, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers to grasp the small green cube on the black table surface."}
+{"subtask_index": 1208, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the small green cube off the table surface and transports it upward to the position above the purple-topped white cylinder on the wooden base."}
+{"subtask_index": 1209, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the small green cube with the top of the purple-topped white cylinder and fits the cube onto the cylinder."}
+{"subtask_index": 1210, "subtask": "Left hand: hold: Left hand holds a white hexagonal block at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the fitted green cube, separating the hand from the cube."}
+{"subtask_index": 1211, "subtask": "Left hand: other:spread_fingers: Left hand spreads its fingers and adjusts wrist posture slightly while staying at the left side of the table, with no obvious position change. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green cubic block to the left of the wooden rack, with fingers open and not touching the block."}
+{"subtask_index": 1212, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green cubic block to the left of the wooden rack, with fingers open and not touching the block."}
+{"subtask_index": 1213, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green cubic block to the left of the wooden rack, with fingers closing around the block to adjust the grip."}
+{"subtask_index": 1214, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the upper position of the leftmost purple post of the rack."}
+{"subtask_index": 1215, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the green block with the leftmost purple post by inserting the post into the hole of the green block."}
+{"subtask_index": 1216, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the green block fitted on the leftmost purple post without moving."}
+{"subtask_index": 1217, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost purple peg, with fingers opening to separate from the piece."}
+{"subtask_index": 1218, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}
+{"subtask_index": 1219, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand closes its fingers around the white hexagonal piece on the table, adjusting the grip to stabilize the piece."}
+{"subtask_index": 1220, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}
+{"subtask_index": 1221, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal nut up from the black table surface."}
+{"subtask_index": 1222, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal nut upward and leftward towards the pegboard."}
+{"subtask_index": 1223, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost peg of the pegboard and presses it down to fit onto the peg."}
+{"subtask_index": 1224, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost peg of the pegboard without moving."}
+{"subtask_index": 1225, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal nut, with fingers opening to separate from the nut."}
+{"subtask_index": 1226, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: retreat: Right hand retreats downward from the pegboard towards the white hexagonal nuts on the black table."}
+{"subtask_index": 1227, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach_grasp: Right hand moves toward the white hexagonal part on the black table and adjusts fingers continuously to grasp the part."}
+{"subtask_index": 1228, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1229, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the wooden peg base."}
+{"subtask_index": 1230, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost front peg of the wooden base, aligning and inserting it down the peg."}
+{"subtask_index": 1231, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost front peg of the wooden base without moving."}
+{"subtask_index": 1232, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white ring on the purple peg of the green base, with fingers opening and moving slightly upward."}
+{"subtask_index": 1233, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward toward the white hexagonal ring placed on the table above the green square block."}
+{"subtask_index": 1234, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing around the ring to form a stable grip."}
+{"subtask_index": 1235, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the table surface to the position above the front purple peg."}
+{"subtask_index": 1236, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal ring onto the front purple peg by aligning and lowering it onto the peg."}
+{"subtask_index": 1237, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface with finger adjustments."}
+{"subtask_index": 1238, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it to above the rightmost purple peg on the wooden base."}
+{"subtask_index": 1239, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal ring onto the rightmost purple peg by lowering and fitting it in place."}
+{"subtask_index": 1240, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal ring from its grip, with fingers fully spread."}
+{"subtask_index": 1241, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward to approach the green cube on the table."}
+{"subtask_index": 1242, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting fingers to stabilize the grip."}
+{"subtask_index": 1243, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it above the purple peg of the block base."}
+{"subtask_index": 1244, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the green cube with the purple peg and fits it onto the peg."}
+{"subtask_index": 1245, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden base and releases the block."}
+{"subtask_index": 1246, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1247, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with finger adjustments to stabilize the grip."}
+{"subtask_index": 1248, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal ring from the right area of the black table."}
+{"subtask_index": 1249, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal ring leftward and upward to the top of the purple rod on the wooden base."}
+{"subtask_index": 1250, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod by lowering and fitting it onto the rod."}
+{"subtask_index": 1251, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal block on the right column of the wooden base."}
+{"subtask_index": 1252, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table next to the wooden base."}
+{"subtask_index": 1253, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}
+{"subtask_index": 1254, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}
+{"subtask_index": 1255, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to above the purple rod."}
+{"subtask_index": 1256, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}
+{"subtask_index": 1257, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}
+{"subtask_index": 1258, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand reaches toward the white hexagonal block on the rightmost column of the wooden base."}
+{"subtask_index": 1259, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the wooden base, with fingers adjusting to stabilize the grip."}
+{"subtask_index": 1260, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift: Right hand lifts the white hexagonal block upward off the supporting block on the wooden base."}
+{"subtask_index": 1261, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand transports the white hexagonal block leftward to above the purple rod."}
+{"subtask_index": 1262, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves down and right to approach the white hexagonal block on the table."}
+{"subtask_index": 1263, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1264, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and left toward the block rack."}
+{"subtask_index": 1265, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}
+{"subtask_index": 1266, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: transport: Right hand holds the white hexagonal block and slides it upward along the purple rod."}
+{"subtask_index": 1267, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: hold: Right hand holds the white hexagonal block at the top of the purple rod without moving."}
+{"subtask_index": 1268, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the white bottle with purple top on the wooden base, with fingers opening to separate from the bottle."}
+{"subtask_index": 1269, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves downward and rightward toward the green cubic object on the table."}
+{"subtask_index": 1270, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers adjusting contact position to form a stable grip."}
+{"subtask_index": 1271, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it to the upper position of the rightmost bottle with a purple rod in the middle group."}
+{"subtask_index": 1272, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: other:attempt_mate: Right hand aligns the green block with the purple rod of the rightmost bottle and repeatedly adjusts the block position to attempt fitting it onto the rod."}
+{"subtask_index": 1273, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand releases the green block, which falls from the hand onto the table surface."}
+{"subtask_index": 1274, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves empty towards the green block that fell on the right side of the table, approaching the block."}
+{"subtask_index": 1275, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: grasp: Right hand grasps the green block on the right table surface, with fingers adjusting to establish a firm grip."}
+{"subtask_index": 1276, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reorient: Right hand rotates the green block on the table to adjust its orientation, with the block's position nearly unchanged and remaining supported by the table."}
+{"subtask_index": 1277, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: lift_transport: Right hand lifts the adjusted green block off the table and transports it to the upper position of the rightmost bottle with the purple rod."}
+{"subtask_index": 1278, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: mate: Right hand aligns the green block with the purple rod of the rightmost bottle and fits the block downward onto the rod."}
+{"subtask_index": 1279, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reorient: Right hand adjusts the orientation of the green block fitted on the purple rod, with the block's vertical position nearly unchanged."}
+{"subtask_index": 1280, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: release: Right hand opens its fingers to release the green block fitted on the purple rod."}
+{"subtask_index": 1281, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reach: Right hand moves empty towards the green block on the purple rod again, approaching the block."}
+{"subtask_index": 1282, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table, with fingers open. | Right hand: reorient: Right hand adjusts the orientation of the green block on the purple rod to make it vertically aligned with the rod."}
+{"subtask_index": 1283, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block in front of the wooden rack."}
+{"subtask_index": 1284, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to establish a stable grasp on the block."}
+{"subtask_index": 1285, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}
+{"subtask_index": 1286, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple peg of the wooden base."}
+{"subtask_index": 1287, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the leftmost purple peg on the wooden base."}
+{"subtask_index": 1288, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fix it."}
+{"subtask_index": 1289, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the leftmost purple peg."}
+{"subtask_index": 1290, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}
+{"subtask_index": 1291, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight adjustments to stabilize the grip."}
+{"subtask_index": 1292, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}
+{"subtask_index": 1293, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the green pillar on the table."}
+{"subtask_index": 1294, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the green pillar."}
+{"subtask_index": 1295, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block with a central hole from the green base on the black table."}
+{"subtask_index": 1296, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the leftmost purple post of the wooden rack."}
+{"subtask_index": 1297, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple post of the wooden rack."}
+{"subtask_index": 1298, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases the block."}
+{"subtask_index": 1299, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}
+{"subtask_index": 1300, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}
+{"subtask_index": 1301, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the upper wooden base."}
+{"subtask_index": 1302, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the target purple rod of the wooden base and adjusts it to fit stably."}
+{"subtask_index": 1303, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 1304, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing fingers around it."}
+{"subtask_index": 1305, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the purple rod on the wooden base."}
+{"subtask_index": 1306, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by fitting it onto the rod."}
+{"subtask_index": 1307, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}
+{"subtask_index": 1308, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white block on the wooden base and moves downward toward the green hexagonal block on the table."}
+{"subtask_index": 1309, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}
+{"subtask_index": 1310, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block off the table surface."}
+{"subtask_index": 1311, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green hexagonal block toward the rightmost purple peg on the wooden base."}
+{"subtask_index": 1312, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost purple peg and inserts it onto the peg."}
+{"subtask_index": 1313, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green hexagonal block and moves slightly upward."}
+{"subtask_index": 1314, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}
+{"subtask_index": 1315, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1316, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the wooden base with pegs."}
+{"subtask_index": 1317, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 1318, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}
+{"subtask_index": 1319, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the wooden base."}
+{"subtask_index": 1320, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}
+{"subtask_index": 1321, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1322, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}
+{"subtask_index": 1323, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple post on the wooden base."}
+{"subtask_index": 1324, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base."}
+{"subtask_index": 1325, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the wooden base."}
+{"subtask_index": 1326, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}
+{"subtask_index": 1327, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the purple rod."}
+{"subtask_index": 1328, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the area near the wooden bottle tray towards the green square block on the black table surface."}
+{"subtask_index": 1329, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}
+{"subtask_index": 1330, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple cap on the wooden tray."}
+{"subtask_index": 1331, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the purple-capped bottle and fits it onto the bottle."}
+{"subtask_index": 1332, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the purple-capped bottle to secure the fitting."}
+{"subtask_index": 1333, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the bottle tray area."}
+{"subtask_index": 1334, "subtask": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture from an upward-pointing closed position to an open extended position at the left side of the workspace, making no contact with any object. | Right hand: reach: Right hand moves from the right initial position downward and left toward the green hexagonal nut on the black table surface, with open fingers and no contact with any object during movement."}
+{"subtask_index": 1335, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves from the right initial position downward and left toward the green hexagonal nut on the black table surface, with open fingers and no contact with any object during movement."}
+{"subtask_index": 1336, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, adjusting finger positions and closing fingers around the nut to form a grasp while the nut remains on the table surface."}
+{"subtask_index": 1337, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden assembly base."}
+{"subtask_index": 1338, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit onto the peg, adjusting position to seat the block on top of the existing green block on the peg."}
+{"subtask_index": 1339, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the seated green hexagonal block, separating the hand from the block surface."}
+{"subtask_index": 1340, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward from above the wooden peg assembly toward the white hexagonal nut on the black table surface, with fingers kept open."}
+{"subtask_index": 1341, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp, with the nut remaining on the table surface."}
+{"subtask_index": 1342, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the black table surface."}
+{"subtask_index": 1343, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: transport: Right hand moves the lifted white hexagonal nut toward the top of the empty purple peg on the wooden peg assembly."}
+{"subtask_index": 1344, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple peg, lowers the nut onto the peg to complete the assembly, opens fingers to release the nut."}
+{"subtask_index": 1345, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty downward and backward away from the wooden peg assembly, retreating from the previous operation area with fingers slightly open."}
+{"subtask_index": 1346, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface, approaching the target with open fingers."}
+{"subtask_index": 1347, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface to establish a grip on the object."}
+{"subtask_index": 1348, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface while moving it upward to the area directly above the empty purple peg on the wooden assembly base."}
+{"subtask_index": 1349, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal nut with the empty purple peg, lowering the nut to fit onto the peg for assembly."}
+{"subtask_index": 1350, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward from the upper section of the block rack toward the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 1351, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers to form a stable grip around the white hexagonal nut on the table."}
+{"subtask_index": 1352, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift: Right hand raises the grasped white hexagonal nut upward until it is fully lifted off the table surface."}
+{"subtask_index": 1353, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the empty purple peg on the wooden block rack."}
+{"subtask_index": 1354, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate_release: Right hand positions the white hexagonal nut over the purple peg, lowers the nut to fit onto the peg, and opens fingers to release the secured nut."}
+{"subtask_index": 1355, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the table surface near the wooden assembly base, with fingers held open as it approaches the target."}
+{"subtask_index": 1356, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip on the object, which remains resting on the table surface."}
+{"subtask_index": 1357, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block fully off the table surface and moves it upward to position it directly above the empty purple vertical peg on the wooden assembly base."}
+{"subtask_index": 1358, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg and lowers the block to fit it securely onto the peg as part of the assembly."}
+{"subtask_index": 1359, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the white hexagonal post along the purple rod on the wooden base until the post is fully seated and supported by the base."}
+{"subtask_index": 1360, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface near the wooden base."}
+{"subtask_index": 1361, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface to establish a grip."}
+{"subtask_index": 1362, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds a white hexagonal nut resting on the dark table surface without moving."}
+{"subtask_index": 1363, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden assembly block."}
+{"subtask_index": 1364, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden assembly block and lowers the nut downward to fit it onto the rod."}
+{"subtask_index": 1365, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens fingers to release the purple cylindrical rod on the wooden assembly base, breaking contact with the rod."}
+{"subtask_index": 1366, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut placed on the black table surface, with fingers held open."}
+{"subtask_index": 1367, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, adjusting finger contact positions to form a grip."}
+{"subtask_index": 1368, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal ring resting on the black table surface without any observable movement."}
+{"subtask_index": 1369, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface, moves it upward and leftward to the position directly above the purple rod on the wooden block stand."}
+{"subtask_index": 1370, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal ring with the purple rod on the wooden base, lowers the ring to fit onto the rod, opens fingers to separate from the assembled ring."}
+{"subtask_index": 1371, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the dark table surface."}
+{"subtask_index": 1372, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers to make contact and establish a grip on the white hexagonal nut resting on the table."}
+{"subtask_index": 1373, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal nut steadily with no observable movement of the hand or the nut."}
+{"subtask_index": 1374, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift: Right hand grips the white hexagonal block resting on the dark table surface and lifts it upward until the block is fully separated from the table."}
+{"subtask_index": 1375, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the wooden base, moving the block to the position directly above the purple vertical rod on the base."}
+{"subtask_index": 1376, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, lowers the block, and adjusts its position to fit the block securely onto the rod to complete the assembly."}
+{"subtask_index": 1377, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers gradually to release the assembled white hexagonal block, and moves the fingers slightly away from the block surface."}
+{"subtask_index": 1378, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: reach: Right hand moves downward from the area adjacent to the block stack to approach the green hexagonal block resting on the table surface."}
+{"subtask_index": 1379, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to establish a stable grasp."}
+{"subtask_index": 1380, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green block off the table and transports it upward to the position directly above the purple-topped peg on the wooden block base."}
+{"subtask_index": 1381, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the purple-topped peg, fitting the block onto the top of the peg."}
+{"subtask_index": 1382, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the wrist or fingers. | Right hand: place: Right hand lowers the green block down along the peg until the block rests stably on the supporting white block below."}
+{"subtask_index": 1383, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block near the wooden base, without contacting the block."}
+{"subtask_index": 1384, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing to form a stable grip on the block."}
+{"subtask_index": 1385, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table without moving."}
+{"subtask_index": 1386, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green hexagonal block on the black table surface."}
+{"subtask_index": 1387, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it above the purple vertical pegs."}
+{"subtask_index": 1388, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the left purple peg and presses it down to fit onto the peg."}
+{"subtask_index": 1389, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}
+{"subtask_index": 1390, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the assembly rack area to approach the white hexagonal piece on the black table."}
+{"subtask_index": 1391, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing and adjusting."}
+{"subtask_index": 1392, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}
+{"subtask_index": 1393, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the left table surface, adjusting fingers to form a stable grip."}
+{"subtask_index": 1394, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and rightward toward the peg board."}
+{"subtask_index": 1395, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the vertical peg of the peg board, pressing it downward to fully fit onto the peg."}
+{"subtask_index": 1396, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white part on the pegboard, with fingers opening from closed position."}
+{"subtask_index": 1397, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}
+{"subtask_index": 1398, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing around the part."}
+{"subtask_index": 1399, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it upward toward the pegboard."}
+{"subtask_index": 1400, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the peg on the pegboard and fits it onto the peg for assembly."}
+{"subtask_index": 1401, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block from its grip, leaving it on the purple peg of the wooden base."}
+{"subtask_index": 1402, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1403, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a stable grip."}
+{"subtask_index": 1404, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the area above the wooden base's purple peg."}
+{"subtask_index": 1405, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning and lowering it into place."}
+{"subtask_index": 1406, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple peg."}
+{"subtask_index": 1407, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the middle purple peg of the wooden base and releases its grip."}
+{"subtask_index": 1408, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand moves toward the green hexagonal block on the table and closes its fingers to grasp the block."}
+{"subtask_index": 1409, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it toward the purple peg on the wooden base."}
+{"subtask_index": 1410, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand fits the green hexagonal block onto the target purple peg of the wooden base."}
+{"subtask_index": 1411, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}
+{"subtask_index": 1412, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the purple rod on the pegboard, with fingers opening to separate from the rod."}
+{"subtask_index": 1413, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the table with empty hand."}
+{"subtask_index": 1414, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and transports it toward the peg assembly on the wooden base."}
+{"subtask_index": 1415, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal piece onto the target peg of the wooden block set."}
+{"subtask_index": 1416, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the target peg without moving."}
+{"subtask_index": 1417, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it into position."}
+{"subtask_index": 1418, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}
+{"subtask_index": 1419, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the table surface."}
+{"subtask_index": 1420, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing."}
+{"subtask_index": 1421, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}
+{"subtask_index": 1422, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple rod on the wooden base."}
+{"subtask_index": 1423, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it into place."}
+{"subtask_index": 1424, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}
+{"subtask_index": 1425, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}
+{"subtask_index": 1426, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden tray."}
+{"subtask_index": 1427, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray."}
+{"subtask_index": 1428, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hollow cylinder on the wooden rack, with fingers opening and separating from the cylinder."}
+{"subtask_index": 1429, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the green block on the right area of the table, moving downward and rightward."}
+{"subtask_index": 1430, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing around the block to form a grip."}
+{"subtask_index": 1431, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it toward the rightmost peg on the wooden base."}
+{"subtask_index": 1432, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost peg on the wooden base and inserts the block onto the peg."}
+{"subtask_index": 1433, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand slides the green square block down along the rightmost peg until it rests on the white block at the bottom of the peg."}
+{"subtask_index": 1434, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty toward the green block on the middle lower area of the black table."}
+{"subtask_index": 1435, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand makes contact with the green block, fingers adjust to form a stable grip on the block."}
+{"subtask_index": 1436, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}
+{"subtask_index": 1437, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green cubic block towards the leftmost purple peg on the wooden base."}
+{"subtask_index": 1438, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple peg of the wooden base."}
+{"subtask_index": 1439, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden board."}
+{"subtask_index": 1440, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}
+{"subtask_index": 1441, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing."}
+{"subtask_index": 1442, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden board."}
+{"subtask_index": 1443, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the peg of the wooden base and releases the block."}
+{"subtask_index": 1444, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 1445, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing to adjust the grip."}
+{"subtask_index": 1446, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden peg rack."}
+{"subtask_index": 1447, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost vertical peg of the wooden rack."}
+{"subtask_index": 1448, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}
+{"subtask_index": 1449, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}
+{"subtask_index": 1450, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1451, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}
+{"subtask_index": 1452, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod."}
+{"subtask_index": 1453, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves upward away from the purple rod after completing placement."}
+{"subtask_index": 1454, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white cylindrical block on the purple rod upwards."}
+{"subtask_index": 1455, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches towards the green hexagonal block on the black table."}
+{"subtask_index": 1456, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table."}
+{"subtask_index": 1457, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it to the top of the purple rod on the wooden base."}
+{"subtask_index": 1458, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod by aligning and lowering it."}
+{"subtask_index": 1459, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}
+{"subtask_index": 1460, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green hexagonal block fitted on the purple rod."}
+{"subtask_index": 1461, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the black table surface."}
+{"subtask_index": 1462, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 1463, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 1464, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it onto the rod to complete assembly."}
+{"subtask_index": 1465, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal object, fingers open to separate from the object."}
+{"subtask_index": 1466, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}
+{"subtask_index": 1467, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}
+{"subtask_index": 1468, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the purple rod."}
+{"subtask_index": 1469, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}
+{"subtask_index": 1470, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the purple rod and moves away slightly."}
+{"subtask_index": 1471, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black tabletop."}
+{"subtask_index": 1472, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the tabletop."}
+{"subtask_index": 1473, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block toward the purple vertical rod on the wooden board."}
+{"subtask_index": 1474, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod on the wooden board."}
+{"subtask_index": 1475, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod."}
+{"subtask_index": 1476, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the green cubic block on the black table surface."}
+{"subtask_index": 1477, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing."}
+{"subtask_index": 1478, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the white pillar on the right of the wooden tray."}
+{"subtask_index": 1479, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block onto the top of the target white pillar on the wooden tray."}
+{"subtask_index": 1480, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the green cubic block and retreats from the wooden tray."}
+{"subtask_index": 1481, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves while empty from its initial raised position on the right side of the workspace, traveling downward and left toward the green hexagonal block on the table in front of the wooden peg set, with fingers held extended as it approaches the target block."}
+{"subtask_index": 1482, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal block on the table surface, adjusting finger positions to establish contact and form a grip on the block."}
+{"subtask_index": 1483, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table and moves it to the position above the purple rod on the wooden base."}
+{"subtask_index": 1484, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, positioning the block to fit onto the rod during assembly."}
+{"subtask_index": 1485, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple rod until it rests on the wooden base, fingers opening to release contact with the block."}
+{"subtask_index": 1486, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward from the area above the pegboard toward the white hexagonal nut placed on the table surface, with no contact to the nut."}
+{"subtask_index": 1487, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp, with the nut remaining on the table surface."}
+{"subtask_index": 1488, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden pegboard."}
+{"subtask_index": 1489, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the pegboard, making slight positional adjustments to fit the nut onto the peg to complete the assembly."}
+{"subtask_index": 1490, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple peg of the wooden assembly base, fingers opening to release the block once it is supported by the peg."}
+{"subtask_index": 1491, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface."}
+{"subtask_index": 1492, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip with the block remaining on the table."}
+{"subtask_index": 1493, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it toward the wooden assembly base."}
+{"subtask_index": 1494, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift: Right hand grips the white hexagonal nut resting on the black table surface and lifts it upward until the nut is fully separated from the table."}
+{"subtask_index": 1495, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: transport: Right hand moves the gripped white hexagonal nut upward and toward the purple posts on the wooden block assembly."}
+{"subtask_index": 1496, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the target purple post on the wooden base and lowers it to fit securely onto the post."}
+{"subtask_index": 1497, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, separating from the nut on the purple post."}
+{"subtask_index": 1498, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut placed on the table in front of the wooden peg base."}
+{"subtask_index": 1499, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains on the table surface."}
+{"subtask_index": 1500, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the table surface, moving it upward to position it above the empty purple peg on the wooden base."}
+{"subtask_index": 1501, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the target purple peg on the wooden base."}
+{"subtask_index": 1502, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: place_release: Right hand lowers the aligned white hexagonal nut onto the purple peg until the nut rests stably on the wooden base, with fingers opening to release grip on the nut."}
+{"subtask_index": 1503, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward with open fingers, empty, approaching the green hexagonal nut resting on the black table surface near the wooden assembly base."}
+{"subtask_index": 1504, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table, making slight adjustments to establish a stable grip on the nut."}
+{"subtask_index": 1505, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut fully off the table surface, moves it upward and leftward to position it directly above the unoccupied purple vertical rod on the wooden base."}
+{"subtask_index": 1506, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal nut with the purple rod, lowers the nut to slide it fully onto the rod until it rests on the supporting white nut below, opens fingers to release the assembled nut."}
+{"subtask_index": 1507, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal nut placed on the table surface."}
+{"subtask_index": 1508, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a grip on the nut."}
+{"subtask_index": 1509, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table, transports it upward and forward to position it above the purple rod on the wooden block base."}
+{"subtask_index": 1510, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut to fit it securely onto the rod."}
+{"subtask_index": 1511, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release_retreat: Right hand opens fingers to release the fitted white hexagonal nut, moving the empty hand backward away from the assembled block set."}
+{"subtask_index": 1512, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward from above the wooden block set toward the upright white hexagonal nut on the table near the block base, with fingers held in a partially open posture."}
+{"subtask_index": 1513, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers to contact the upright white hexagonal nut, causing the nut to topple over onto the black table surface."}
+{"subtask_index": 1514, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens fingers to release contact with the toppled white hexagonal nut, moving slightly upward and away from the nut."}
+{"subtask_index": 1515, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves leftward across the table surface toward the toppled white hexagonal nut, keeping fingers open as it approaches the target."}
+{"subtask_index": 1516, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the toppled white hexagonal nut on the table, making small adjustments to finger positions and wrist angle to form a stable grip on the nut."}
+{"subtask_index": 1517, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily above the table surface, with no visible movement of the hand, fingers, or the held nut."}
+{"subtask_index": 1518, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly above the purple rod on the wooden block assembly."}
+{"subtask_index": 1519, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod, mating the nut with the wooden base."}
+{"subtask_index": 1520, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens fingers to release the mated white hexagonal nut, separating the hand from the nut."}
+{"subtask_index": 1521, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple post of the wooden block base, moves downward toward the white hexagonal nut on the table surface with extended fingers approaching the target nut."}
+{"subtask_index": 1522, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the black table surface, fingers gradually close around the nut, with small finger adjustments to establish a stable grip on the nut."}
+{"subtask_index": 1523, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward off the black table surface."}
+{"subtask_index": 1524, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: transport: Right hand moves the held white hexagonal block through the air toward the purple vertical post on the wooden block stand."}
+{"subtask_index": 1525, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post and lowers the block to fit onto the post, establishing the assembly connection."}
+{"subtask_index": 1526, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: release: Right hand opens fingers to release the light purple cylinder placed on the rightmost position of the block rack, separating from the cylinder."}
+{"subtask_index": 1527, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: reach: Right hand moves downward toward the green block resting on the black table surface while keeping the hand empty."}
+{"subtask_index": 1528, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: grasp: Right hand closes fingers around the green block on the table to form a stable grasp, with the block still on the table surface."}
+{"subtask_index": 1529, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is completely separated from the table surface."}
+{"subtask_index": 1530, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: transport: Right hand carries the green block upward and leftward through the air to position it directly above the light purple cylinder on the block rack."}
+{"subtask_index": 1531, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, holding a steady pose without contacting any objects and with no observable translational or rotational movement. | Right hand: mate: Right hand aligns the central hole of the green block with the light purple cylinder below, moves the block downward to fit it securely onto the top of the cylinder."}
+{"subtask_index": 1532, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface, with wrist rotating slightly downward and fingers kept open."}
+{"subtask_index": 1533, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table surface to establish a stable grasp."}
+{"subtask_index": 1534, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost purple peg of the rack."}
+{"subtask_index": 1535, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the rack by inserting it downwards along the peg."}
+{"subtask_index": 1536, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the rack without moving."}
+{"subtask_index": 1537, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green hexagonal block from the leftmost purple peg and retreats downwards."}
+{"subtask_index": 1538, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg rack area to approach the white hexagonal block on the black table surface, without making contact."}
+{"subtask_index": 1539, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts to form a stable grasp."}
+{"subtask_index": 1540, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple peg on the rack."}
+{"subtask_index": 1541, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg to complete assembly."}
+{"subtask_index": 1542, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}
+{"subtask_index": 1543, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal part onto the front-left purple peg of the wooden base, releasing its grip."}
+{"subtask_index": 1544, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}
+{"subtask_index": 1545, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing."}
+{"subtask_index": 1546, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the table toward the front-left purple peg of the wooden base."}
+{"subtask_index": 1547, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal part onto the front-left purple peg of the wooden base."}
+{"subtask_index": 1548, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand assembles the white hollow cylindrical part onto the rightmost purple vertical post on the wooden base and releases its grip."}
+{"subtask_index": 1549, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing around it."}
+{"subtask_index": 1550, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal piece on the black table and lifts it off the table surface."}
+{"subtask_index": 1551, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward toward the purple rod on the wooden base."}
+{"subtask_index": 1552, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod and fits it down onto the rod."}
+{"subtask_index": 1553, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod, with fingers opening and separating from the piece."}
+{"subtask_index": 1554, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the purple peg of the wooden board and releases the piece."}
+{"subtask_index": 1555, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table below the wooden peg board."}
+{"subtask_index": 1556, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward and rightward to the top of the rightmost purple rod."}
+{"subtask_index": 1557, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost purple rod and inserts it downward along the rod to complete the assembly."}
+{"subtask_index": 1558, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases it."}
+{"subtask_index": 1559, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal ring on the table and grasps it."}
+{"subtask_index": 1560, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring and transports it to the top of the rightmost purple peg."}
+{"subtask_index": 1561, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the rightmost purple peg on the wooden base."}
+{"subtask_index": 1562, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base, with fingers opening from a closed gripping position."}
+{"subtask_index": 1563, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}
+{"subtask_index": 1564, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface as fingers close around the object."}
+{"subtask_index": 1565, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the top of the purple rod."}
+{"subtask_index": 1566, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}
+{"subtask_index": 1567, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases the grip."}
+{"subtask_index": 1568, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1569, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 1570, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}
+{"subtask_index": 1571, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple rod on the wooden base."}
+{"subtask_index": 1572, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the grip."}
+{"subtask_index": 1573, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}
+{"subtask_index": 1574, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing."}
+{"subtask_index": 1575, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the black table surface, with fingers closing to form a stable grip."}
+{"subtask_index": 1576, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green ring from the table toward the rightmost white bottle on the wooden rack."}
+{"subtask_index": 1577, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring with the rightmost white bottle by aligning the ring's hole with the bottle's top peg and lowering it onto the bottle."}
+{"subtask_index": 1578, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring, with fingers opening and separating from the ring."}
+{"subtask_index": 1579, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table top."}
+{"subtask_index": 1580, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table."}
+{"subtask_index": 1581, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the wooden peg base."}
+{"subtask_index": 1582, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost peg of the wooden base and inserts it onto the peg."}
+{"subtask_index": 1583, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down to the bottom of the peg on the wooden base."}
+{"subtask_index": 1584, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the purple rod on the wooden base."}
+{"subtask_index": 1585, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the lifted white hexagonal block onto the black table surface."}
+{"subtask_index": 1586, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}
+{"subtask_index": 1587, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}
+{"subtask_index": 1588, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1589, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and pressing it down to fit properly."}
+{"subtask_index": 1590, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the lower part of the black table surface."}
+{"subtask_index": 1591, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table."}
+{"subtask_index": 1592, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 1593, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple pegs."}
+{"subtask_index": 1594, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it to complete assembly."}
+{"subtask_index": 1595, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the purple cylindrical part away from the wooden mounting base."}
+{"subtask_index": 1596, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the purple cylindrical part downward toward the table surface."}
+{"subtask_index": 1597, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the purple cylindrical part on the black table surface and releases its grip."}
+{"subtask_index": 1598, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal part on the black table surface."}
+{"subtask_index": 1599, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to form a stable grip."}
+{"subtask_index": 1600, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the target purple stick on the wooden base."}
+{"subtask_index": 1601, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple stick, pushing it down until it is fully seated on the stick."}
+{"subtask_index": 1602, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is successfully mated onto the stick."}
+{"subtask_index": 1603, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}
+{"subtask_index": 1604, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple peg on the wooden base."}
+{"subtask_index": 1605, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the green hexagonal block onto the purple peg and adjusts its position to fit properly."}
+{"subtask_index": 1606, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white cylindrical block onto the peg of the wooden base."}
+{"subtask_index": 1607, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}
+{"subtask_index": 1608, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1609, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}
+{"subtask_index": 1610, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal object towards the target peg on the wooden base."}
+{"subtask_index": 1611, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the target peg by aligning and fitting it onto the peg."}
+{"subtask_index": 1612, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the rightmost rear peg of the wooden base."}
+{"subtask_index": 1613, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}
+{"subtask_index": 1614, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 1615, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod."}
+{"subtask_index": 1616, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_place: Right hand aligns the white hexagonal block with the purple rod and places it onto the rod."}
+{"subtask_index": 1617, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening to separate from the block."}
+{"subtask_index": 1618, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}
+{"subtask_index": 1619, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block."}
+{"subtask_index": 1620, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white ring and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1621, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by inserting it onto the rod."}
+{"subtask_index": 1622, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring placed on the purple rod."}
+{"subtask_index": 1623, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves from the position near the wooden block base towards the green cubic block on the black table."}
+{"subtask_index": 1624, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table."}
+{"subtask_index": 1625, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the rightmost white cylinder on the wooden base."}
+{"subtask_index": 1626, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white cylinder and inserts it onto the cylinder."}
+{"subtask_index": 1627, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the green cubic block."}
+{"subtask_index": 1628, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement."}
+{"subtask_index": 1629, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut in front of the wooden pegboard with an open hand, approaching the target without making contact."}
+{"subtask_index": 1630, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, fingers close and make fine adjustments to establish a stable grasp on the object."}
+{"subtask_index": 1631, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal nut upward until it is fully separated from the black table surface."}
+{"subtask_index": 1632, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal nut to align with the purple peg on the wooden assembly, lowering it to fit securely onto the peg."}
+{"subtask_index": 1633, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal nut fitted on the purple peg, separating from the nut surface."}
+{"subtask_index": 1634, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward from the pegboard area to approach the white hexagonal block placed on the table surface."}
+{"subtask_index": 1635, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table and adjusts finger positions to form a stable grasp."}
+{"subtask_index": 1636, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the target purple peg on the wooden pegboard."}
+{"subtask_index": 1637, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple peg and lowers the block to fit it onto the peg."}
+{"subtask_index": 1638, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand or the block."}
+{"subtask_index": 1639, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: press_release: Right hand presses down on the top of the hexagonal block on the wooden pegboard, fingers opening to release contact with the block."}
+{"subtask_index": 1640, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}
+{"subtask_index": 1641, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers closing and making small adjustments to establish a stable grasp."}
+{"subtask_index": 1642, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and carries it upward to the area above the purple peg on the wooden assembly block."}
+{"subtask_index": 1643, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and moves downward to fit the nut securely onto the peg."}
+{"subtask_index": 1644, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg without any visible movement of the hand or nut."}
+{"subtask_index": 1645, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward from its initial position above the assembly toward the white hexagonal nut placed on the black table in front of the wooden base, remaining empty before making contact with the nut."}
+{"subtask_index": 1646, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip on the nut, which remains resting on the table."}
+{"subtask_index": 1647, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand moves vertically upward to lift the gripped white hexagonal nut until the nut is fully separated from the table surface."}
+{"subtask_index": 1648, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and horizontally toward the empty purple post mounted on the wooden assembly base."}
+{"subtask_index": 1649, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple post, then lowers the nut to fit it securely onto the post to complete the assembly."}
+{"subtask_index": 1650, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves from above the wooden assembly base down toward the green hexagonal block on the table surface, with no contact to the block."}
+{"subtask_index": 1651, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions to form a stable grip while the block remains resting on the table."}
+{"subtask_index": 1652, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moving it upward to a position directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 1653, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowering the block to seat it securely on the peg supported by the wooden base."}
+{"subtask_index": 1654, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: release: Right hand opens fingers to release the seated green hexagonal block, breaking all contact between the hand and the block."}
+{"subtask_index": 1655, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: retreat: Right hand moves empty away from the assembled green block on the wooden base, traveling back toward the area above the base."}
+{"subtask_index": 1656, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden peg assembly toward the white hexagonal nut resting on the black table surface, keeping fingers open as it approaches the target nut."}
+{"subtask_index": 1657, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing its fingers around the nut and making small adjustments to finger and wrist position to establish a stable grip on the nut."}
+{"subtask_index": 1658, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reorient: Right hand holds the secured white hexagonal nut, rotating it in small increments around the vertical axis to adjust its orientation while keeping the nut positioned in nearly the same spot on the table surface."}
+{"subtask_index": 1659, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand holds the white hexagonal nut on the black table surface near the green block, making slight finger adjustments to stabilize the grip."}
+{"subtask_index": 1660, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and toward the purple vertical rod on the wooden block assembly stand."}
+{"subtask_index": 1661, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod on the wooden stand, adjusting position slightly before lowering the nut to fit it onto the rod."}
+{"subtask_index": 1662, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward from above the wooden peg base toward the white hexagonal nut placed on the adjacent table surface, with fingers held slightly open."}
+{"subtask_index": 1663, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grasp, while the nut stays resting on the table surface."}
+{"subtask_index": 1664, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table, then moves it upward and leftward to position it directly above the purple vertical peg on the wooden base."}
+{"subtask_index": 1665, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple vertical peg, moving the nut slightly downward to fit it onto the peg."}
+{"subtask_index": 1666, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward from the position adjacent to the wooden block tray toward the white hexagonal nut resting on the black table surface, remaining empty and out of contact with the nut during the movement."}
+{"subtask_index": 1667, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table surface to form a stable grasp, with the nut remaining fully supported by the table."}
+{"subtask_index": 1668, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, and carries the nut upward and leftward to the position directly above the purple vertical rod mounted on the wooden block tray."}
+{"subtask_index": 1669, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the top end of the purple vertical rod, moving the nut downward to fit the nut onto the rod and establish a stable nested assembly relation."}
+{"subtask_index": 1670, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand moves the fitted nut downward along the purple vertical rod until the nut rests stably on the white supporting block at the rod base, opening its fingers to release the nut and separate the hand from the assembled components."}
+{"subtask_index": 1671, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: release: Right hand opens fingers to release the purple cylindrical piece placed on the wooden block base, gradually separating fingers from the top of the purple piece."}
+{"subtask_index": 1672, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward toward the green block resting on the table surface, approaching the block with fingers held in a partially open position."}
+{"subtask_index": 1673, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the green block on the table, closing fingers around the block and adjusting finger positions to form a stable grip."}
+{"subtask_index": 1674, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_release: Right hand lifts the grasped green block off the table surface, moves it a short distance upward and rightward, opens fingers to release the block, letting it fall onto the right area of the table."}
+{"subtask_index": 1675, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves downward and rightward toward the green block that fell on the right side of the table, approaching the block with fingers partially open."}
+{"subtask_index": 1676, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes contact with the green block on the right table surface, adjusting finger positions and gradually closing fingers around the block to attempt a stable grip."}
+{"subtask_index": 1677, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach_grasp: Right hand moves toward the small green block on the right table surface, closes fingers to adjust and establish a stable grasp on the block, which stays on the table."}
+{"subtask_index": 1678, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, moving it upward and leftward to position it directly above the target bottle on the wooden block holder."}
+{"subtask_index": 1679, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand slightly adjusts the position of the green block to align its central hole with the purple post on top of the target bottle."}
+{"subtask_index": 1680, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand moves the aligned green block downward along the purple post, until the block rests stably on the top of the target bottle and is supported by the bottle."}
+{"subtask_index": 1681, "subtask": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture at the left side of the table, with no object contacted. | Right hand: other:adjust_hand_posture: Right hand adjusts its finger and wrist posture at the right side of the table, with no object contacted."}
+{"subtask_index": 1682, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves leftward from the right side of the table toward the central wooden pegboard with stacked hollow blocks."}
+{"subtask_index": 1683, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: other:knock_blocks_off_pegs: Right hand moves downward and knocks the hollow blocks off the purple pegs on the central wooden board."}
+{"subtask_index": 1684, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand moves down toward the green hollow block on the table surface and grasps it with finger adjustments for a stable grip."}
+{"subtask_index": 1685, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, fingers adjusting to form a stable grip."}
+{"subtask_index": 1686, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward and rightward above the purple peg of the wooden base."}
+{"subtask_index": 1687, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg, moving the block downward to fit onto the peg."}
+{"subtask_index": 1688, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}
+{"subtask_index": 1689, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the green hexagonal block on the purple peg, fingers opening and moving slightly upward."}
+{"subtask_index": 1690, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases it."}
+{"subtask_index": 1691, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the left side of the table."}
+{"subtask_index": 1692, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1693, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}
+{"subtask_index": 1694, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden base with pegs."}
+{"subtask_index": 1695, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}
+{"subtask_index": 1696, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block from the grip."}
+{"subtask_index": 1697, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases the block quickly."}
+{"subtask_index": 1698, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1699, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting for stable grip."}
+{"subtask_index": 1700, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it toward the wooden peg board."}
+{"subtask_index": 1701, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden board, adjusting position to align and lower the piece onto the peg."}
+{"subtask_index": 1702, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand finalizes the mating of the white hex block on the upper peg of the pegboard and releases the block."}
+{"subtask_index": 1703, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the upper peg area toward the white hexagonal block on the table, keeping empty."}
+{"subtask_index": 1704, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}
+{"subtask_index": 1705, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the position above the front-right purple peg."}
+{"subtask_index": 1706, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the front-right purple peg by aligning the block's hole with the peg and lowering it along the peg."}
+{"subtask_index": 1707, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the front-right purple peg, with fingers opening and separating from the block."}
+{"subtask_index": 1708, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the upper right area near the peg set toward the green hexagonal block on the table."}
+{"subtask_index": 1709, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}
+{"subtask_index": 1710, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward to above the purple peg."}
+{"subtask_index": 1711, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it down onto the peg."}
+{"subtask_index": 1712, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the green hexagonal block on the purple peg and moves slightly away from the peg."}
+{"subtask_index": 1713, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white cylindrical peg on the wooden peg base, with fingers opening to separate from the peg."}
+{"subtask_index": 1714, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, with no object in hand."}
+{"subtask_index": 1715, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1716, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 1717, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod by aligning the hole and lowering the piece down the rod."}
+{"subtask_index": 1718, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards and rightwards from the right side of the wooden base to approach the upper white hexagonal block on the table."}
+{"subtask_index": 1719, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table surface, establishing a stable grip."}
+{"subtask_index": 1720, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and carries it upwards and leftwards towards the purple rod on the wooden base."}
+{"subtask_index": 1721, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod, completing the nesting assembly."}
+{"subtask_index": 1722, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}
+{"subtask_index": 1723, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod, staying slightly beside the block."}
+{"subtask_index": 1724, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, without touching the block."}
+{"subtask_index": 1725, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 1726, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits the block onto the rod."}
+{"subtask_index": 1727, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white post with a purple top onto the wooden base and releases its grip."}
+{"subtask_index": 1728, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches toward the green block on the table surface and grasps it with closing fingers."}
+{"subtask_index": 1729, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the front-right white post on the wooden base."}
+{"subtask_index": 1730, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block onto the front-right white post by aligning its hole with the post and lowering it down."}
+{"subtask_index": 1731, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: idle: Right robotic hand remains empty at the right side of the table without moving."}
+{"subtask_index": 1732, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right robotic hand moves towards the white cylindrical block on the left side of the wooden base."}
+{"subtask_index": 1733, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right robotic hand closes fingers and adjusts to grasp the white cylindrical block on the left side of the wooden base."}
+{"subtask_index": 1734, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}
+{"subtask_index": 1735, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block above the target purple peg on the wooden base."}
+{"subtask_index": 1736, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg, pressing it down to fully fit onto the base."}
+{"subtask_index": 1737, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the mated green block and reaches toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1738, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}
+{"subtask_index": 1739, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and moves it above the purple post of the wooden rack."}
+{"subtask_index": 1740, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and inserts it onto the post."}
+{"subtask_index": 1741, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block from its grip on the purple peg of the wooden base."}
+{"subtask_index": 1742, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}
+{"subtask_index": 1743, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}
+{"subtask_index": 1744, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}
+{"subtask_index": 1745, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple pegs on the wooden base."}
+{"subtask_index": 1746, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden base."}
+{"subtask_index": 1747, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black table surface."}
+{"subtask_index": 1748, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}
+{"subtask_index": 1749, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward towards the wooden base."}
+{"subtask_index": 1750, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand slightly adjusts the white hexagonal block on the purple peg to stabilize the grasp."}
+{"subtask_index": 1751, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden base, with fingers gradually opening."}
+{"subtask_index": 1752, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}
+{"subtask_index": 1753, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface, with fingers closing around the block."}
+{"subtask_index": 1754, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and moves it towards the purple rod on the wooden base."}
+{"subtask_index": 1755, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and presses it down onto the rod to complete assembly."}
+{"subtask_index": 1756, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers, separating from the block."}
+{"subtask_index": 1757, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the assembled green block on the wooden base."}
+{"subtask_index": 1758, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the purple cylindrical part into the corresponding hole on the wooden base."}
+{"subtask_index": 1759, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the lower part of the table surface."}
+{"subtask_index": 1760, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal object on the table."}
+{"subtask_index": 1761, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table by closing fingers around it."}
+{"subtask_index": 1762, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple rod on the wooden base."}
+{"subtask_index": 1763, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: place_mate: Right hand places the white hexagonal block onto the purple rod and fits it down along the rod to complete assembly."}
+{"subtask_index": 1764, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod placed on the wooden base."}
+{"subtask_index": 1765, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}
+{"subtask_index": 1766, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the white hexagonal block on the table to move it slightly."}
+{"subtask_index": 1767, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves backward slightly away from the white hexagonal block."}
+{"subtask_index": 1768, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward toward the white hexagonal block again."}
+{"subtask_index": 1769, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to establish a grasp."}
+{"subtask_index": 1770, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to above the purple rod on the wooden base."}
+{"subtask_index": 1771, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod on the wooden base and releases the block."}
+{"subtask_index": 1772, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}
+{"subtask_index": 1773, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing."}
+{"subtask_index": 1774, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden tray."}
+{"subtask_index": 1775, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}
+{"subtask_index": 1776, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats away from the wooden tray."}
+{"subtask_index": 1777, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block placed on the black table surface."}
+{"subtask_index": 1778, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}
+{"subtask_index": 1779, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the rightmost white pillar on the wooden base."}
+{"subtask_index": 1780, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white pillar and inserts it onto the pillar to complete assembly."}
+{"subtask_index": 1781, "subtask": "Left hand: idle: Left robotic hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block which is already fitted on the white pillar."}
+{"subtask_index": 1782, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut on the table in front of the wooden rack, extending fingers to approach the target."}
+{"subtask_index": 1783, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table, making small wrist and finger adjustments to form a grip on the nut."}
+{"subtask_index": 1784, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward toward the purple vertical posts on the wooden base."}
+{"subtask_index": 1785, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the target purple post and slides the block down the post to achieve a fitted assembly."}
+{"subtask_index": 1786, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the block rack toward the white hexagonal block placed on the table in front of the block base, with fingers held slightly open."}
+{"subtask_index": 1787, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block stays on the table surface."}
+{"subtask_index": 1788, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it above the purple peg on the block rack."}
+{"subtask_index": 1789, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the grasped white hexagonal block with the purple peg on the rack, lowers the block to nest it onto the peg, making small positional adjustments to maintain alignment during the process."}
+{"subtask_index": 1790, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the area near the assembly board toward the white hexagonal nut on the table, approaching the target without making contact."}
+{"subtask_index": 1791, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp."}
+{"subtask_index": 1792, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple peg on the assembly board."}
+{"subtask_index": 1793, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the assembly board and moves it downward to fit the nut onto the peg."}
+{"subtask_index": 1794, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg of the assembly board without any observable movement."}
+{"subtask_index": 1795, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the black table surface adjacent to the wooden assembly base."}
+{"subtask_index": 1796, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip on the object."}
+{"subtask_index": 1797, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward toward the empty purple peg on the wooden assembly base."}
+{"subtask_index": 1798, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple peg, then lowers the nut to seat it onto the peg."}
+{"subtask_index": 1799, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal nut now seated on the purple peg, with fingers beginning to separate from the nut."}
+{"subtask_index": 1800, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand holds the white cylindrical block, moves downward to position the block on the wooden base, opens fingers to let go of the block."}
+{"subtask_index": 1801, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach_grasp: Right hand moves from the wooden base toward the green hexagonal block on the table, closes fingers and adjusts grip to securely grasp the green block."}
+{"subtask_index": 1802, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand holds the grasped green hexagonal block, lifts it off the table surface, moves it upward and toward the purple rod on the wooden base."}
+{"subtask_index": 1803, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand holds the green hexagonal block, aligns it with the purple rod, slides the block down the rod to fit it onto the rod in assembly."}
+{"subtask_index": 1804, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the fitted green hexagonal block on the purple rod."}
+{"subtask_index": 1805, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut on the black table surface near the green block."}
+{"subtask_index": 1806, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, making small finger adjustments to secure the grip."}
+{"subtask_index": 1807, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward toward the wooden assembly base."}
+{"subtask_index": 1808, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod on the wooden assembly base, adjusting position to fit the nut onto the rod."}
+{"subtask_index": 1809, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut onto the purple rod of the assembly base."}
+{"subtask_index": 1810, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from above the wooden block set toward the nearby white hexagonal nut on the table, with fingers open, approaching the nut without contact."}
+{"subtask_index": 1811, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the white hexagonal nut near the wooden block, adjusts finger positions to attempt grasping, and the nut slides left away from the hand without forming a stable grasp."}
+{"subtask_index": 1812, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: idle: Right hand remains empty above the table near the original nut position with no observable movement."}
+{"subtask_index": 1813, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves left toward the slid white hexagonal nut with fingers held open."}
+{"subtask_index": 1814, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand contacts the slid white hexagonal nut, fingers close gradually to establish a grasp on the nut."}
+{"subtask_index": 1815, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it toward the empty slot on the wooden block assembly."}
+{"subtask_index": 1816, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the empty slot on the wooden block assembly and inserts the nut into the slot."}
+{"subtask_index": 1817, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the inserted white hexagonal nut in the wooden block slot without any observable movement."}
+{"subtask_index": 1818, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut in the wooden block slot, separating from the nut."}
+{"subtask_index": 1819, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface, keeping fingers open before contact."}
+{"subtask_index": 1820, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface, adjusting finger positions to form a stable grip."}
+{"subtask_index": 1821, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward and toward the purple rod mounted on the wooden block."}
+{"subtask_index": 1822, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod, lowering the nut to fit it onto the rod."}
+{"subtask_index": 1823, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, separating from the nut that remains fitted on the purple rod."}
+{"subtask_index": 1824, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the area adjacent to the white cylindrical block set toward the green cubic block on the dark table surface, with fingers open as it approaches the target."}
+{"subtask_index": 1825, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green cubic block to establish a stable grasp, while the block remains resting on the table surface."}
+{"subtask_index": 1826, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green cubic block completely off the dark table surface, then moves it upward and toward the wooden base to position it directly above the purple-topped white cylindrical block."}
+{"subtask_index": 1827, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the top of the purple-topped white cylindrical block, then lowers the block to fit securely onto the cylinder, establishing an assembled connection."}
+{"subtask_index": 1828, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens its fingers to release the green cubic block, which remains fitted onto the purple-topped white cylindrical block."}
+{"subtask_index": 1829, "subtask": "Left hand: other:adjust_pose: Left hand rotates its wrist slightly and opens its fingers at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the left side of the wooden rack."}
+{"subtask_index": 1830, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the left side of the wooden rack."}
+{"subtask_index": 1831, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the left purple peg on the wooden base."}
+{"subtask_index": 1832, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the left purple peg and inserts it onto the peg to establish initial assembly."}
+{"subtask_index": 1833, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the left purple peg to push it further down the peg."}
+{"subtask_index": 1834, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the leftmost purple peg of the wooden base."}
+{"subtask_index": 1835, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table above the left green block."}
+{"subtask_index": 1836, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the leftmost purple peg of the wooden base."}
+{"subtask_index": 1837, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}
+{"subtask_index": 1838, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}
+{"subtask_index": 1839, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}
+{"subtask_index": 1840, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical part on the upper wooden base, then moves downward to approach the white hexagonal part on the table surface."}
+{"subtask_index": 1841, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1842, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden rack."}
+{"subtask_index": 1843, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and fits it onto the peg."}
+{"subtask_index": 1844, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block with fingers opening and moves slightly upward away from the peg."}
+{"subtask_index": 1845, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg, fingers open to separate from the block."}
+{"subtask_index": 1846, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers close around the block to form a stable grip."}
+{"subtask_index": 1847, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the peg board."}
+{"subtask_index": 1848, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers adjusting to stabilize the grip while the ring stays on the table surface."}
+{"subtask_index": 1849, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it upward and rightward to the position above the purple peg on the wooden base."}
+{"subtask_index": 1850, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and lowers it to fit the ring onto the peg, completing the nesting assembly."}
+{"subtask_index": 1851, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring fitted on the purple peg, with fingers opening to separate from the ring."}
+{"subtask_index": 1852, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly downward away from the white hexagonal ring on the purple peg."}
+{"subtask_index": 1853, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the white block on the middle purple peg and releases its grip."}
+{"subtask_index": 1854, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}
+{"subtask_index": 1855, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}
+{"subtask_index": 1856, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it above the rightmost purple peg."}
+{"subtask_index": 1857, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the rightmost purple peg and releases the block."}
+{"subtask_index": 1858, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower part of the table."}
+{"subtask_index": 1859, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal nut on the black table and grasps it by closing its fingers around the object."}
+{"subtask_index": 1860, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it toward the purple peg on the wooden base."}
+{"subtask_index": 1861, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and fits it onto the peg."}
+{"subtask_index": 1862, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple peg by opening its fingers and moving slightly upward."}
+{"subtask_index": 1863, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the upper white hexagonal ring on the table."}
+{"subtask_index": 1864, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the table with fingers closing."}
+{"subtask_index": 1865, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the upper white hexagonal ring from the table to above the purple rod on the wooden base."}
+{"subtask_index": 1866, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal ring with the purple rod and releases the ring."}
+{"subtask_index": 1867, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the lower white hexagonal ring on the table."}
+{"subtask_index": 1868, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lower white hexagonal ring on the table with fingers closing."}
+{"subtask_index": 1869, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the right table surface without moving."}
+{"subtask_index": 1870, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and moves it leftward to above the purple rod on the wooden base."}
+{"subtask_index": 1871, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white ring onto the purple rod by moving downward to complete the assembly."}
+{"subtask_index": 1872, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the small purple component onto the top of the front-right white bottle on the wooden tray and releases the component."}
+{"subtask_index": 1873, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green square block on the table surface."}
+{"subtask_index": 1874, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface with fingers closing around it."}
+{"subtask_index": 1875, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the table surface and transports it toward the front-right white bottle on the wooden tray."}
+{"subtask_index": 1876, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green square block onto the top of the front-right white bottle on the wooden tray by aligning its hole with the bottle's top protrusion and pressing down."}
+{"subtask_index": 1877, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block on the top of the front-right white bottle."}
+{"subtask_index": 1878, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves leftward from the initial position towards the green hexagonal block in front of the wooden rack."}
+{"subtask_index": 1879, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close and adjust to form a stable grasp on the block."}
+{"subtask_index": 1880, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}
+{"subtask_index": 1881, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the green block above the target purple peg on the wooden base."}
+{"subtask_index": 1882, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the green block with the purple peg by aligning and inserting."}
+{"subtask_index": 1883, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: press: Right hand presses the green block down firmly onto the purple peg."}
+{"subtask_index": 1884, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}
+{"subtask_index": 1885, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}
+{"subtask_index": 1886, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}
+{"subtask_index": 1887, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}
+{"subtask_index": 1888, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the front left purple rod on the wooden base."}
+{"subtask_index": 1889, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block with the front left purple rod by inserting it down onto the rod."}
+{"subtask_index": 1890, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the front left purple rod of the wooden base without moving."}
+{"subtask_index": 1891, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}
+{"subtask_index": 1892, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 1893, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black tabletop to establish grasp."}
+{"subtask_index": 1894, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden test tube rack."}
+{"subtask_index": 1895, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden test tube rack."}
+{"subtask_index": 1896, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1897, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}
+{"subtask_index": 1898, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple rod on the wooden base."}
+{"subtask_index": 1899, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 1900, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}
+{"subtask_index": 1901, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}
+{"subtask_index": 1902, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the purple peg on the wooden tray."}
+{"subtask_index": 1903, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}
+{"subtask_index": 1904, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block on the purple peg."}
+{"subtask_index": 1905, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}
+{"subtask_index": 1906, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1907, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden base."}
+{"subtask_index": 1908, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 1909, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white ring placed on the wooden base."}
+{"subtask_index": 1910, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward towards the white ring on the black tabletop."}
+{"subtask_index": 1911, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white ring on the black tabletop with fingers closing."}
+{"subtask_index": 1912, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white ring and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1913, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}
+{"subtask_index": 1914, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white cap held on the purple rod of the wooden base."}
+{"subtask_index": 1915, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal cap placed on the black table surface."}
+{"subtask_index": 1916, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal cap on the black table surface."}
+{"subtask_index": 1917, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cap from the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 1918, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal cap onto the purple rod of the wooden base."}
+{"subtask_index": 1919, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white hexagonal cap fitted on the purple rod."}
+{"subtask_index": 1920, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: retreat: Right hand moves upward away from the purple rod after releasing the cap."}
+{"subtask_index": 1921, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white cylinder on the wooden base and lifts its top part slightly upward."}
+{"subtask_index": 1922, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves empty toward the green cube placed on the table surface."}
+{"subtask_index": 1923, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand contacts the green cube, adjusts fingers to form a stable grip on the cube."}
+{"subtask_index": 1924, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: push: Right hand pushes the green cube on the table slightly toward the left direction."}
+{"subtask_index": 1925, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the green cubic block off the black table surface."}
+{"subtask_index": 1926, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand moves the green cubic block towards the wooden base with white cylindrical pillars."}
+{"subtask_index": 1927, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white pillar on the wooden base to fit it onto the pillar."}
+{"subtask_index": 1928, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand lowers the green cubic block onto the rightmost white pillar until the block is stably supported by the pillar."}
+{"subtask_index": 1929, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand opens its fingers to release the green cubic block, separating from the block completely."}
+{"subtask_index": 1930, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace with no contact to operational objects, staying stationary."}
+{"subtask_index": 1931, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut on the table surface to the left of the wooden assembly holder, with fingers extended as it approaches the target."}
+{"subtask_index": 1932, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table, making small adjustments to finger positions and wrist angle to establish grip on the nut, which remains resting on the table surface."}
+{"subtask_index": 1933, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand holds the green hexagonal block resting on the black table surface, lifts it upward completely off the table, and moves it to the position directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 1934, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to nest it onto the peg until the block is securely fitted on the peg."}
+{"subtask_index": 1935, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, separating the fingers from the block surface."}
+{"subtask_index": 1936, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward and forward from the wooden base area toward the white hexagonal block resting on the table, holds fingers open as it approaches the target block."}
+{"subtask_index": 1937, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, makes small adjustments to finger positions to form a stable grip on the block, which remains supported by the table surface."}
+{"subtask_index": 1938, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves upward and back toward the wooden base, carries the block through the air to position it above the target purple post."}
+{"subtask_index": 1939, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the target purple post, lowers the block to fit it securely onto the post, opens fingers to release the assembled block."}
+{"subtask_index": 1940, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand holds the white cylindrical piece, aligns it with the purple post on the wooden base and fits the piece onto the post."}
+{"subtask_index": 1941, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 1942, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish a stable grip on the nut."}
+{"subtask_index": 1943, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position above the purple rod on the wooden assembly rack."}
+{"subtask_index": 1944, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod."}
+{"subtask_index": 1945, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement."}
+{"subtask_index": 1946, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, pulling slightly away from the nut surface."}
+{"subtask_index": 1947, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: press: Right hand grips the white hexagonal nut on the purple rod and presses it downward along the rod to seat it firmly in place."}
+{"subtask_index": 1948, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block held on the upper purple peg, allowing the block to fall onto the table surface near the wooden base."}
+{"subtask_index": 1949, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward from the upper peg area toward the fallen white hexagonal block on the table near the wooden base, with fingers held open as it approaches the block."}
+{"subtask_index": 1950, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block resting on the table to establish a stable grasp on the block."}
+{"subtask_index": 1951, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}
+{"subtask_index": 1952, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position the block directly above the right purple peg on the wooden base."}
+{"subtask_index": 1953, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the right purple peg, then lowers the block to fit it securely onto the peg."}
+{"subtask_index": 1954, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg, with no visible movement of the hand or the block."}
+{"subtask_index": 1955, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple peg, fully separating the hand from the secured block."}
+{"subtask_index": 1956, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward with a partially open posture, traveling from the area above the wooden assembly base toward the green hexagonal block resting on the black table surface, without yet contacting the block."}
+{"subtask_index": 1957, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers close around the sides of the block to form a stable grasp, while the block remains supported by the table surface."}
+{"subtask_index": 1958, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface, moves upward and toward the purple vertical peg on the wooden assembly base, positioning the block's central hole directly over the peg."}
+{"subtask_index": 1959, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden base, lowers the block onto the peg while making small positional adjustments to properly seat the block on the assembly."}
+{"subtask_index": 1960, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the seated green hexagonal block, then retracts the fingers slightly away from the assembled block."}
+{"subtask_index": 1961, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal nut positioned in front of the green block on the black table surface."}
+{"subtask_index": 1962, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger position to form a stable grip on the nut, which remains on the table surface."}
+{"subtask_index": 1963, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then transports it upward and toward the wooden stand to position it directly above the purple rod."}
+{"subtask_index": 1964, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the top end of the purple rod, lowering the nut until it makes contact with the rod tip."}
+{"subtask_index": 1965, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut placed on the purple rod without moving, keeping the nut stationary in its position on the rod."}
+{"subtask_index": 1966, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal nut on the purple rod, moving the nut slightly downward to continue fitting it onto the rod."}
+{"subtask_index": 1967, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves from the area above the block set downward toward the white hexagonal nut on the table to the right of the wooden base, with fingers open."}
+{"subtask_index": 1968, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger position to form a stable grip on the nut."}
+{"subtask_index": 1969, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and leftward to position it directly above the purple vertical rod on the wooden base."}
+{"subtask_index": 1970, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the top of the purple vertical rod, adjusting position to prepare for fitting the nut onto the rod."}
+{"subtask_index": 1971, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white block placed on the wooden tray, losing contact with the block."}
+{"subtask_index": 1972, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 1973, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes around the white hexagonal nut on the table to establish a grasp."}
+{"subtask_index": 1974, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}
+{"subtask_index": 1975, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand grips the white hexagonal block, lifts it off the table surface, and moves it upward toward the purple vertical rod on the wooden block rack."}
+{"subtask_index": 1976, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod on the wooden rack and fits it downward onto the rod to complete the assembly."}
+{"subtask_index": 1977, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block."}
+{"subtask_index": 1978, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: retreat: Right hand moves empty away from the wooden rack and the assembled block."}
+{"subtask_index": 1979, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward toward the green square block on the dark table surface, without contacting the block."}
+{"subtask_index": 1980, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the green square block on the table, making minor adjustments to establish a stable grip on the block."}
+{"subtask_index": 1981, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the green block off the table surface and carries it upward and leftward toward the target white cylindrical post on the wooden block base."}
+{"subtask_index": 1982, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green square block with the top of the target white post, fitting the block onto the post to form an assembly."}
+{"subtask_index": 1983, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying stationary throughout the segment. | Right hand: place: Right hand lowers the green square block down the post until it rests steadily on the top surface of the lower white cylinder, supported by the cylinder."}
+{"subtask_index": 1984, "subtask": "Left hand: other:adjust_hand_pose: Left hand rotates slightly inward and closes its fingers gently at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table surface."}
+{"subtask_index": 1985, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table surface."}
+{"subtask_index": 1986, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal block on the table with fingers closing around the block."}
+{"subtask_index": 1987, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward and rightward to the position above the leftmost peg of the wooden rack."}
+{"subtask_index": 1988, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the wooden rack and fits it down onto the peg until the block reaches the lower position of the peg."}
+{"subtask_index": 1989, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}
+{"subtask_index": 1990, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}
+{"subtask_index": 1991, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the left white hexagonal nut on the table, with no contact to the nut yet."}
+{"subtask_index": 1992, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal nut on the table, with fingers closing to form a stable grip around the nut."}
+{"subtask_index": 1993, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward toward the front-left peg of the pegboard."}
+{"subtask_index": 1994, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left peg of the pegboard by aligning and lowering it onto the peg."}
+{"subtask_index": 1995, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left peg of the pegboard without moving."}
+{"subtask_index": 1996, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the peg, with fingers opening to separate from the nut."}
+{"subtask_index": 1997, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward away from the pegboard area, remaining empty."}
+{"subtask_index": 1998, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg rack area to approach the white hexagonal block on the table."}
+{"subtask_index": 1999, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts to form a stable grip."}
+{"subtask_index": 2000, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the peg rack."}
+{"subtask_index": 2001, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the peg on the rack and inserts it onto the peg."}
+{"subtask_index": 2002, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block along the peg until it is supported by the green block below."}
+{"subtask_index": 2003, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the peg."}
+{"subtask_index": 2004, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the peg rack."}
+{"subtask_index": 2005, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the black table surface."}
+{"subtask_index": 2006, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black table surface."}
+{"subtask_index": 2007, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal ring upward to separate it from the black table surface."}
+{"subtask_index": 2008, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal ring upward to the position above the right purple rod on the wooden base."}
+{"subtask_index": 2009, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the right purple rod and lowers it onto the rod to complete the assembly."}
+{"subtask_index": 2010, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the right purple rod without moving."}
+{"subtask_index": 2011, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal ring onto the front-left purple peg of the wooden base and lets go of the ring."}
+{"subtask_index": 2012, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the left green hexagonal ring on the black table surface."}
+{"subtask_index": 2013, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left green hexagonal ring on the table with fingers closing around it."}
+{"subtask_index": 2014, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and moves it toward the front-right purple peg of the wooden base."}
+{"subtask_index": 2015, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring with the front-right purple peg by lowering it down the peg until it rests on the wooden base."}
+{"subtask_index": 2016, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the green hexagonal ring on the front-right purple peg."}
+{"subtask_index": 2017, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the dark table surface below the wooden base."}
+{"subtask_index": 2018, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing to form a stable grip."}
+{"subtask_index": 2019, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the top of the purple rod on the wooden base."}
+{"subtask_index": 2020, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base, aligning the ring's hole with the rod and lowering the ring onto it."}
+{"subtask_index": 2021, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring that is fitted on the purple rod."}
+{"subtask_index": 2022, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the black table."}
+{"subtask_index": 2023, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing around it."}
+{"subtask_index": 2024, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to above the rightmost purple rod on the wooden board."}
+{"subtask_index": 2025, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and lowers it onto the rod to complete mating."}
+{"subtask_index": 2026, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple rod without moving."}
+{"subtask_index": 2027, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers."}
+{"subtask_index": 2028, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object with a hole on the black table."}
+{"subtask_index": 2029, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the black table."}
+{"subtask_index": 2030, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it upward to the top of the purple rod on the wooden board."}
+{"subtask_index": 2031, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and slides it down onto the rod."}
+{"subtask_index": 2032, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal object fitted on the purple rod."}
+{"subtask_index": 2033, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}
+{"subtask_index": 2034, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2035, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward from the black table surface until the block leaves the support surface."}
+{"subtask_index": 2036, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block in the air leftward to above the front-right bottle on the wooden rack."}
+{"subtask_index": 2037, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the front-right bottle by aligning the hole and inserting it downward."}
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+    "observation.images.tactile_deform": 78572,
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+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 38
+}
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